Singularity analysis of a 7-DOF spatial hybrid manipulator for medical surgery

DOI10.1515/IJNSNS-2019-0130OpenAlexW3193955893MaRDI QIDQ2159173

Ekta Singla, Sanjeev Soni, Ashish Singla, Sameer Gupta

Publication date: 28 July 2022

Published in: International Journal of Nonlinear Sciences and Numerical Simulation (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1515/ijnsns-2019-0130

zbMATH Keywords

Jacobian matrixsingularity analysishybrid manipulatormedical surgerysafe working zones

Mathematics Subject Classification ID

Mechanics of deformable solids (74-XX) Mechanics of particles and systems (70-XX)

Cites Work

• Analysis of kinematics/statics and workspace of a 2(SP+SPR+SPU) serial-parallel manipulator
• Singularity-free path planning for the Stewart platform manipulator.

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