Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data

Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data

This paper deals with a robotic manipulator dedicated to craniotomy with a remote center of motion based on a Spherical Parallel Manipulator (SPM) architecture. The SPM is proposed to handle the drilling tool through the requested craniotomy Degrees of Freedom (DoF) with two rotations. The proposed...

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Bibliographic Details
Main Authors: Terence Essomba, Juan Sandoval, Med Amine Laribi, Chieh-Tsai Wu, Cyril Breque, Saïd Zeghloul, Jean-pierre Richer
Format: Article
Language:English
Published: MDPI AG 2021-07-01
Series:Applied Sciences
Subjects:
reconfigurable spherical parallel mechanism
craniotomy
motion capture
torque minimization
Online Access:https://www.mdpi.com/2076-3417/11/14/6534

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