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Workspace Analysis in the Design Parameter Space of a 2-DOF Spherical Parallel Mechanism for a Prescribed Workspace: Application to the Otologic Surgery

Abstract : During Otologic surgery, and more broadly during microsurgery, the surgeon encounters several difficulties due to the confined spaces and micro-manipulations. The purpose of the paper is to design a robot with a prescribed regular workspace shape to handle an endoscope to assist the Otologic surgery. A spherical parallel mechanism with two degrees of freedom is analysed in its design parameter space. This mechanism is composed of three legs (2USP-U) to connect the base to a moving platform connected to a double parallelogram to create a remote center of motion (RCM). Its kinematic properties, i.e. the singularity locus and the number of direct kinematic solutions, are investigated. For some design parameters, non-singular assembly modes changing trajectories may exist and have to be investigated inside the prescribed regular workspace shape. Two sets of design parameters are presented with their advantages and disadvantages.
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https://hal.archives-ouvertes.fr/hal-03106584
Contributor : Damien Chablat <>
Submitted on : Monday, January 11, 2021 - 10:27:39 PM
Last modification on : Thursday, January 14, 2021 - 3:05:19 AM

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Damien Chablat, Guillaume Michel, Philippe Bordure, Swaminath Venkateswaran, Ranjan Jha. Workspace Analysis in the Design Parameter Space of a 2-DOF Spherical Parallel Mechanism for a Prescribed Workspace: Application to the Otologic Surgery. Mechanism and Machine Theory, Elsevier, 2021, 157, pp.104224. ⟨10.1016/j.mechmachtheory.2020.104224⟩. ⟨hal-03106584⟩

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