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A new class of fully parallel 4-dof, 4-legged parallel mechanism, providing three rotational and one translational freedom. A fully parametric mathematical model of the mechanism kinematics have been created to support the analysis and verify conditions for singularity.
Heaveeyefirstcrossee.mp4
A library of graphical and computational tools has been written in order to simplify the analysis and to provide a sophisticated and effective mockup. A special geometry particularly feasible for laproscopic surgery has been investigated by flipping the mechanism.
- I would like to acknowledge the article titled "Analytical kinematics models and special geometries of a class of 4-DOF parallel mechanisms" by M.Zoppi et al.
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Vishal Ramadoss |