 |
Kinematic analysis of spherical robots
1 : Equipe de Modélisation et Simulation des Systèmes Mécaniques, Département de physique
Université Abdelmalek Essaâdi, Faculté des Sciences, Tétouan, Maroc -
Maroc
In this paper, we compare the movement of two serial robots which are used as probe-holder for the application of tele-echography. The first one is a serial spherical wrist with four degree-of-freedom and the structure of the second one is based on a similar mechanical structure, which is inclined with an angle from the normal direction to the patient's skin. The goal is to compare their trajectories on the plane tangential to the skin and the inclination of the end effector axis
