Abstract
The present paper deals with the mathematical modeling of a new 2 DOF remote center of motion spherical parallel tensegrity mechanism, dedicated to percutaneous needle interventions. Analytical inverse kinematic and numerical direct kinematic models are developed. Trilateration approach is considered in order to determine the coordinates of the joints that constitute the system. A 3D prototype of the mechanism has been developed for future evaluations. This work constitutes a first step towards the control of the mechanism.
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This work was supported by the Investissements d’Avenir (Labex CAMI ANR-11-LABX-0004).
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El Jjouaoui, H., Cruz-Martinez, G., Avila Vilchis, JC., Vilchis González, A., Abdelaziz, S., Poignet, P. (2022). Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous Interventions. In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_36
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DOI: https://doi.org/10.1007/978-3-031-08140-8_36
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