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- W4377081650 abstract "This article presents an inverse kinematic analysis of a medical assistive manipulator, whose output link has three translational and two rotational degrees of freedom (3T2R motion pattern). The manipulator consists of a 2-DOF parallel kinematic part and a 3-DOF serial kinematic part. An original design of the manipulator looks promising for medical applications that require a movable frame above the patient. The article develops an algorithm for calculating displacements in the actuated joints when the desired motion of the output link is prescribed. The suggested algorithm is based on the product-of-exponentials formula. It provides a closed-form solution with no assumptions about the manipulator geometry. A case study demonstrates an example of application and verifies the proposed techniques." @default.
- W4377081650 created "2023-05-20" @default.
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- W4377081650 date "2023-01-01" @default.
- W4377081650 modified "2023-09-27" @default.
- W4377081650 title "Mechanism Design and Inverse Kinematics of a 5-DOF Medical Assistive Manipulator" @default.
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- W4377081650 doi "https://doi.org/10.1007/978-3-031-32446-8_36" @default.
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