Kinematics and dynamics analysis of a hybrid parallel-serial micromanipulator designed for biomedical applications

Author(s):: Nasseri, M.A.; Eder, M.; Eberts, D.; Nair, S.; Maier, M.; Zapp, D.; Lohmann, C.P.; Knoll, A.
Title:: Kinematics and dynamics analysis of a hybrid parallel-serial micromanipulator designed for biomedical applications
Keywords:: manipulator dynamics; manipulator kinematics; medical robotics; micromanipulators; surgery; 6 DOF micromanipulation; 6 degrees of freedom micromanipulation; RCM; biomedical application; dynamics analysis; hybrid parallel-serial mechanism; hybrid parallel-serial micromanipulator; intraocular manipulation; kinematics analysis; miniature micromanipulator design; parallel coupled joint; piezo actuator; portable robot; remote center of motion; robot design; surgical tool; Actuators; Joints; Kinematics; Retina; Robot kinematics; Surgery «
manipulator dynamics; manipulator kinematics; medical robotics; micromanipulators; surgery; 6 DOF micromanipulation; 6 degrees of freedom micromanipulation; RCM; biomedical application; dynamics analysis; hybrid parallel-serial mechanism; hybrid parallel-serial micromanipulator; intraocular manipulation; kinematics analysis; miniature micromanipulator design; parallel coupled joint; piezo actuator; portable robot; remote center of motion; robot design; surgical tool; Actuators; Joints; Kinematic... »
Book / Congress title:: Advanced Intelligent Mechatronics (AIM), 2013 IEEE/ASME International Conference on
Year:: 2013
Pages:: 293-299
Fulltext / DOI:: doi:10.1109/AIM.2013.6584107
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