Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous Interventions
Overview & Synopsis
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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hal.science)
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Document Information
| Document Title | Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous Interventions |
|---|---|
| Author / Organization | Hamza El Jjouaoui, Giorgio Mackenzie Cruz-Martinez, Juan Carlos Avila Vilchis, Adriana Herlinda Vilchis-Gonzalez, Salih Abdelaziz, Philippe Poignet |
| Subject & Discipline | Multidisciplinary Academic Open Research |
| Categories | Science & Mathematics |
| Publication Year | 2022 |
| License / Rights | Open Access / Creative Commons |
| Resource Verification | Listed PDF (Verification Pending) |
| Original Host Website |
HAL Open Science
(hal.science)
|
| File Format | application/pdf (Portable Document Format) |
| Language | EN |
| Catalog ID | DOC-93055 |
| Original Source Link | Visit Source Page on hal.science » |