Design of a Five-Degrees of Freedom Statically Balanced Mechanism with Multi-Directional Functionality
A statically balanced mechanism is designed as a potential solution for the positioning of surgical instruments. Its kinematics with five degrees of freedom that decouples linear and angular motions is proposed for that objective. The linear motion of its end effector is provided by a classical para...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-01-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/10/1/11 |