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Structural synthesis of 2R1T type mechanisms for minimally invasive surgery applications
Assistive and operative manipulators allow easier and more precise operations for minimally invasive surgery. Such manipulators often have a pivot point at the incision port on the pa-tient’s body, so the manipulator should ...
A geometrical approach for the singularity analysis of a 3-RRS parallel manipulator
Identifying singularity manifolds of parallel manipulators analytically is a hard task due to their complex kinematics and passive joints. This study proposes to use the geometrical conditions of singularities in order to ...