In this paper the concept of a serial-parallel macro-milli manipulator is presented for medical applications byinvestigating the feasibility of combining two different robotic structures into one system. The combination of thetwo structures can be used as a redundant system in which stiffness, singularity and accuracy can be optimized asrelated to workspace demands and restrictions that are required for a-priori selected medical applications. A casestudy has been experienced at LARM (Laboratory of Robotics and Mechatronics) in Cassino through a new systemcomposed of a commercial Adept COBRA and CaPaMan2bis (Cassino Parallel Manipulator 2bis). The performanceof this system is compared with a previous serial-parallel macro-milli robotic system also developed at LARM inCassino. Experimental tests have been carried out in order to characterize the proposed systems.

A Serial-Parallel Robotic Architecture for Surgical Tasks

G. CARBONE;
2005

Abstract

In this paper the concept of a serial-parallel macro-milli manipulator is presented for medical applications byinvestigating the feasibility of combining two different robotic structures into one system. The combination of thetwo structures can be used as a redundant system in which stiffness, singularity and accuracy can be optimized asrelated to workspace demands and restrictions that are required for a-priori selected medical applications. A casestudy has been experienced at LARM (Laboratory of Robotics and Mechatronics) in Cassino through a new systemcomposed of a commercial Adept COBRA and CaPaMan2bis (Cassino Parallel Manipulator 2bis). The performanceof this system is compared with a previous serial-parallel macro-milli robotic system also developed at LARM inCassino. Experimental tests have been carried out in order to characterize the proposed systems.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/20.500.11770/301826
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