Title: Forward kinematic model of a new spherical parallel manipulator used as a master device

Authors: Houssem Saafi; Med Amine Laribi; Said Zeghloul; Marc Arsicault

Addresses: Département Génie Mécanique & Systèmes Complexes, Pprime Institute, CNRS - University of Poitiers - ENSMA Axe RoBioSS (Robotique, Biomécanique, Sport & Santé) SP2MI - Téléport 2, Boulevard Marie et Pierre Curie BP 30179, 86962 Futuroscope Chasseneuil Cedex, France ' Département Génie Mécanique & Systèmes Complexes, Pprime Institute, CNRS - University of Poitiers - ENSMA Axe RoBioSS (Robotique, Biomécanique, Sport & Santé) SP2MI - Téléport 2, Boulevard Marie et Pierre Curie BP 30179, 86962 Futuroscope Chasseneuil Cedex, France ' Département Génie Mécanique & Systèmes Complexes, Pprime Institute, CNRS - University of Poitiers - ENSMA Axe RoBioSS (Robotique, Biomécanique, Sport & Santé) SP2MI - Téléport 2, Boulevard Marie et Pierre Curie BP 30179, 86962 Futuroscope Chasseneuil Cedex, France ' Département Génie Mécanique & Systèmes Complexes, Pprime Institute, CNRS - University of Poitiers - ENSMA Axe RoBioSS (Robotique, Biomécanique, Sport & Santé) SP2MI - Téléport 2, Boulevard Marie et Pierre Curie BP 30179, 86962 Futuroscope Chasseneuil Cedex, France

Abstract: The paper discusses the forward kinematic model (FKM) of a special spherical parallel manipulator (SPM). The special SPM is obtained by modifying one leg of a classic SPM in order to eliminate the singularity from its workspace. The SPM is used as master device for medical teleoperation system. The FKM of the new SPM is solved and improved using an extra sensor to work in real time.

Keywords: forward kinematics; kinematic modelling; master device; singularities; spherical parallel manipulators; SPM; parallel robots; medical teleoperation; telemedicine; healthcare technology; robot sensors; surgical robots; surgery.

DOI: 10.1504/IJMRS.2016.10001896

International Journal of Mechanisms and Robotic Systems, 2016 Vol.3 No.2/3, pp.145 - 155

Received: 23 Jul 2015
Accepted: 18 May 2016

Published online: 14 Dec 2016 *

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