THE CONCEPTUAL DESIGN OF A PARALLEL MECHANISM WITH 3 DEGREES OF FREEDOM FOR ROBOTIC ASSISTED MINIMALLY INVASIVE SURGERY

Alin HORSIA, Ionut ZIMA, Damien CHABLAT, Calin VAIDA, Alexandru PUSCA, Tiberiu ANTAL, Bogdan GHERMAN, Doina PISLA

Abstract


The paper presents an innovative parallel mechanism with 3 degrees of freedom for minimally invasive surgery. Starting from a known architecture, with an architecturally constrained Remote Center of Motion, a new concept is proposed, according to the most important technical characteristics which must be fulfilled by surgical robot. The paper focuses on the development of the CAD design for the proposed concept. A Finite Element Analysis of some of the most important parts of the CAD model is performed, which further validates the overall design. Kinematic and dynamic simulations are performed in Siemens NX, thus validating the design in virtual environment. 

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