Singularity Analysis and Geometric Optimization of a 6-DOF Parallel Robot for SILS
Singularity Analysis and Geometric Optimization of a 6-DOF Parallel Robot for SILS
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Basel: MDPI AG
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Language
English
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Basel: MDPI AG
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The paper presents the singularity analysis and the geometric optimization of a 6-DOF (Degrees of Freedom) parallel robot for SILS (Single-Incision Laparoscopic Surgery). Based on a defined set of input/output constraint equations, the singularities of the parallel robotic system are determined and geometrically interpreted. Then, the geometric par...
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Singularity Analysis and Geometric Optimization of a 6-DOF Parallel Robot for SILS
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TN_cdi_doaj_primary_oai_doaj_org_article_c59c0551adcb4ee4aff60640a1cb41a5
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https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_doaj_primary_oai_doaj_org_article_c59c0551adcb4ee4aff60640a1cb41a5
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ISSN
2075-1702
E-ISSN
2075-1702
DOI
10.3390/machines10090764
