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This paper describes the development of a dexterous endoscopic parallel manipulator for laparoscopic surgery using rigid mechanism. Endoscopic parallel manipulator is developed based on the concept of virtual chain and screw theory. The inverse and forward kinematics solutions are derived analytically and numerically respectively. Also the singularity analysis is investigated. The known problem of...
The description of the architecture for a new compact but yet economical micro-nano two-fingered hybrid manipulator hand is presented. This hand consists of two 3-DOF parallel mechanisms, upper and lower, connected in series. Each of them consists of a parallel kinematics chain with a glass pipette as an end effector. It is driven by three piezo-electric actuators in the three legs of the parallel...
This paper presents the analysis and design optimization of a new compact and yet economical micro-nano two-fingered manipulator hand. The proposed manipulator hand consists of two series modules; upper and lower module. Each module consists of a parallel kinematics chain with a glass pipette of 3 to 10cm length as an end effector. It is driven by three piezo-electric actuated prismatic joints in...
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