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Article
Assisting Robotic Surgical Complexes for Minimally Invasive Operations
The current state of robotic-assisted complexes in minimally invasive surgery is considered. Three different manipulators for robotic surgery, which differ from well-known foreign analogues in a number of adv...
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Article
Development and Investigation of Mechanisms with a Constant Point of Entry of a Tool into the Working Area, Intended for Surgery and Study of the Properties of Plasma
This paper discusses the mechanisms that ensure a constant point of entry of a tool into a working area. These devices were obtained using bevel gears or belt drives. The solution of the problem of the positio...
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Chapter and Conference Paper
Structural Synthesis of Spatial l-Coordinate Mechanisms with Additional Links for Technological Robots
The article is devoted to the structural synthesis of mechanisms of parallel structure, belonging to the class l-coordinate mechanisms. Studies of the mechanisms of the parallel structure in connection with their...
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Article
Investigation of Special Positions of the Parallel Mechanism of the Delta Family with Four Degrees of Freedom
The results of investigation of two types of special positions of parallel mechanism with four degrees of freedom and four linear drives are presented. To solve the problem, an iterative algorithm is used, whi...
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Article
The Direct Position Problem for l-Coordinate Mechanisms of Various Types
In this paper we consider an algorithm for solving the direct position problem for spatial mechanisms of a parallel structure with six linear drives. The direct problem is solved analytically or iteratively–nu...
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Chapter and Conference Paper
5DOF Mechanism for Vertebral Surgery Kinematic Analysis and Velocity Calculation
The article describes 5DOF mechanism for vertebral surgery. The mechanism is designed as a robot with parallel structure – the working instrument is located on the platform with two orthogonal slides with actu...
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Article
Problems of Kinematic Analysis and Special Positions of Mechanisms of Robots with Parallel Structure
A solution to the problem of the velocities and problems of analysis of the special positions of the spatial mechanisms with parallel structure with a kinematic decoupling is considered. The Gosselin and Angel...
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Article
Infinitesimal displacement analysis of a parallel manipulator with circular guide via the differentiation of constraint equations
This paper considers several subproblems associated with solving the forward and inverse position and speed problems and defining singular configurations for a parallel robot with six degrees of freedom and si...