Singularity Analysis and Geometric Optimization of a 6-DOF Parallel Robot for SILS
The paper presents the singularity analysis and the geometric optimization of a 6-DOF (Degrees of Freedom) parallel robot for SILS (Single-Incision Laparoscopic Surgery). Based on a defined set of input/output constraint equations, the singularities of the parallel robotic system are determined and...
| Автори: | , , , , , , , , |
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| Формат: | Стаття |
| Мова: | English |
| Опубліковано: |
MDPI AG
2022-09-01
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| Серія: | Machines |
| Предмети: | |
| Онлайн доступ: | https://www.mdpi.com/2075-1702/10/9/764 |