Dimensional Synthesis of a Novel 2T2R Parallel Manipulator for Medical Applications

Abstract

This paper deals with the dimensional synthesis of a novel parallel manipulator for medical applications. This parallel mechanism has a novel 2T2R mobility derived from the targeted application of needle manipulation. The kinematic design of this 2T2R manipulator and its novelty are illustrated in relation to the percutaneous procedures. Due to the demanding constraints on its size and compactness, achieving a large workspace especially in orientation, is a rather difficult task. The workspace size and kinematic constraint analysis are considered for the dimensional synthesis of this 2T2R parallel mechanism. A dimensional synthesis algorithm based on the screw theory and the geometric analysis of the singularities is described. This algorithm also helps to eliminate the existence of voids inside the workspace. The selection of the actuated joints is validated. Finally, the dimensions of the structural parameters of the mechanism are calculated for achieving the required workspace within the design constraints of size, compactness and a preliminary prototype without actuators is presented.

Design and simulation of robot hand for writing and correction assistant applications

“…Ramesh Kumar and Sriram Kalyan have designed and fabricated the agricultural application of autonomous robot (Ramesh Kumar et al, 2018). Kumar and Srinath worked for application of walking accelerating system for traffic problems (Kumar and Srinath, 2018) later Kishore Kumar and Srinath have done a simulation of the parallel manipulator for medical purposes (Kishore Kumar et al, 2017a), again the same authors, Kishore Kumar and Srinath have generated the application of medical field again of delta parallel robot (Kishore Kumar et al, 2017b;Vinay et al, 2017). Vinay and Venkata Satya Sri Vamsi Ch have worked for design and simulation of the accelerometer to detect crashes and airbags instalment in automobiles (Vijay et al, 2019).…”