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In the wire-driven parallel suspension system, interference between wires and a mobile platform will limit the movement of the platform so that the expected workspace can not be reached and the motion control is not achieved. A mathematical model has been built for the interference problem, when the mobile platform moves at a single pitching degree of freedom. By the model, the interference points...
A principle prototype of 6-DOF (six degree of freedom) wire-driven parallel manipulator-WDPSS-8 (WDPSS: Wire-Driven Parallel Suspension System, 8: eight wires) has been designed and built in this paper. The kinematics model and dynamics model have been established in moving and fixed coordinate system set in the model and the manipulator respectively. The trajectory of the aircraft model along a spiral...
In pelvic-acetabular surgery, it is extremely important to position the tools accurately and precisely for drilling and milling operations. Thanks to the advanced robotics technology in recent years, some of the industrial robotics arms are able to achieve good repeatability and dexterity while positioning the surgical tools. Compatibility in the operation room is another concern while using the commercial...
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