Singularities and workspace analysis for a parallel robot for minimally invasive surgery

摘要

The paper presents the singularity and workspace analysis of PARAMIS - the first parallel robot, for camera guidance in minimally invasive surgical procedures developed in Romania. The graphical workspace is achieved through a series of geometric constructions in modeling software. The analytical workspace is achieved through a simple method based on the geometric model of the robot. The paper will demonstrate that the use of a simple structure with the minimum number of degrees of freedom required by the application provides the necessary workspace without singularity points. Results and conclusions from the first experimental procedures are presented.