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

DOI10.1515/IJNSNS-2019-0130MaRDI QIDQ2159173zbMATH OpenOpenAlexFDO

Authors Sameer Gupta, Ekta Singla, Sanjeev Soni, Ashish Singla

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

singularity analysisJacobian matrixhybrid manipulatormedical surgerysafe working zones

Mathematics Subject Classification ID

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

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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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