| contributor author | Saafi, Houssem | |
| contributor author | Laribi, Med Amine | |
| contributor author | Zeghloul, Said | |
| contributor author | Arsicault, Marc | |
| date accessioned | 2019-02-28T11:04:29Z | |
| date available | 2019-02-28T11:04:29Z | |
| date copyright | 4/11/2018 12:00:00 AM | |
| date issued | 2018 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_010_04_044501.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4252395 | |
| description abstract | This paper discusses the design of a new spherical parallel manipulator (SPM), which is used as a master device for medical tasks. This device is obtained by changing the kinematics of a classic SPM to eliminate the singularity from the device's useful workspace. The kinematic models of the new device are studied. The geometric parameters of the new device are optimized to eliminate the singularity. A prototype of the new master device is presented. Experiments are carried out using the device which allowed the control of a surgical robot. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | On the Development of a New Master Device Used for Medical Tasks | |
| type | Journal Paper | |
| journal volume | 10 | |
| journal issue | 4 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4039590 | |
| journal fristpage | 44501 | |
| journal lastpage | 044501-6 | |
| tree | Journal of Mechanisms and Robotics:;2018:;volume( 010 ):;issue: 004 | |
| contenttype | Fulltext | |