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.
Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous Interventions
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
18.06.2022
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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