Kinematic Modeling of a SCARA-Type Medical Manipulation Robot Accounting for Non-Parallelism of Rotational Axes and a Manual End-Effector With Four Degrees of Freedom
DOI:
https://doi.org/10.17072/1993-0550-2025-4-76-86Keywords:
medical manipulation robot, kinematic analysis, non-parallel axes, inverse kinematics problem (IKP)Abstract
This paper presents a kinematic analysis of a two-joint SCARA-type medical manipula-tion robot, accounting for non-parallelism of the rotational axes and incorporating a man-ual end-effector with four degrees of freedom. A kinematic model integrating the end-effector is developed, and the inverse kinematics problem is solved. The proposed ap-proach is demonstrated on a medical manipulation robot designed for transpedicular spi-nal fixation procedures.References
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Copyright (c) 2025 Дмитрий Борисович Смирнов, Илья Александрович Фролов, Андрей Александрович Воротников, Андрей Анатольевич Гринь, Олег Валерьевич Левченко
This work is licensed under a Creative Commons Attribution 4.0 International License.
Articles are published under license Creative Commons Attribution 4.0 International (CC BY 4.0).
