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Kinematic Analysis of a Novel 3-UPrU Parallel Mechanism
Jingfang Liu, Yao Liu, Shuai Tian
97 - 100
10.3233/ATDE241339
Research Article
Advances in Transdisciplinary Engineering
Volume 66: Intelligent Manufacturing and Cloud Computing
Abstract

To meet the needs of the remote center-of-motion (RCM) in minimally invasive surgery, a novel 3-UPrU parallel mechanism is proposed that allows for two rotations around the incision site and movement in the direction of the incision point. The screw theory is used to solve the degree-of-freedom(DOF) of the mechanism, utilizing the limit boundary method solve the workspace of the mechanism. The research in this paper demonstrates that the mechanism has RCM motion properties, which can suit the needs of minimally invasive surgery implying that the mechanism has some application potential.

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