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A Parallel 5 DOF Positioner for Semi-Spherical Workspaces

[+] Author Affiliations
Benjamin Maurin, Bernard Bayle, Jacques Gangloff, Michel de Mathelin

Strasbourg University, Illkirch Cedex, France

Olivier Piccin

INSA-Strasbourg, Strasbourg, France

Paper No. DETC2004-57406, pp. 1033-1042; 10 pages
doi:10.1115/DETC2004-57406
From:
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME

abstract

In this paper, a new five-degree-of-freedom parallel manipulator is described and modeled. This structure has been specially designed for medical applications that require in the same time mobility, compactness and accuracy around a functional point. The purpose of this robotic device is to help practitioners to perform accurate needle insertions while preserving them from harmful intra-operative X-ray imaging devices. The system is built from revolute joints, among which only five joints are actuated to convey the required five degrees of freedom to its moving platform. A numerical simulation of the workspace and a physical prototype are presented.

Copyright © 2004 by ASME

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