In this paper is given the presentation of the basic structure of Navi-Robot and on the history of the initial motivation for its development. Navi-Robot is a 3 arms, self-balancing 6 degrees of freedom (DOF) robotic system, whose central arm is capable to switch between navigation and robotic modes, while the lateral ones are only measuring arms, lockable in any position, suitable for orthopaedic, endoscopic and oncologic surgical procedures. The transition from the passive to the active mode is achieved by adopting special electrically activated brakes of original design, which are also used to ‘freeze’ each arm in the desired configuration, for convenient use. A first prototype has been assembled and a basic electronics and control system have been implemented to perform kinematic tests. A full revision and upgrade of the system is under way. The self-balancing feature of each arm is achieved by integrating the kinematic chain with an horizontal axes planar four-bar-linkage, which guaranties full weight compensation.
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|Titolo:||Navi-Robot, a multipurpose robot for medical applications|
|Data di pubblicazione:||2010|
|Citazione:||Navi-Robot, a multipurpose robot for medical applications / PERRELLI M; NUDO P; DONNICI M; GATTI G; COLACINO E.M; PACE C; DANIELI G. A. - In: PROBLEMY PRIKLADNOJ MEHANIKI. - ISSN 1512-0740. - 4:41(2010), pp. 22-33.|
|Appare nelle tipologie:||1.1 Articolo in rivista|