Parallel Robot mockup : 4-DOF Heave eye based on spherical geometry

V. Ramadoss : Visit my Youtube channel by clicking the video preview below

Description of the Model

A new class of fully parallel 4-dof, 4-legged parallel mechanism, providing three rotational and one translational freedom. A fully parametric mathematical model of the mechanism kinematics have been created to support the analysis and verify conditions for singularity.

Heaveeyefirstcrossee.mp4

Graphic Mockup

A library of graphical and computational tools has been written in order to simplify the analysis and to provide a sophisticated and effective mockup. A special geometry particularly feasible for laproscopic surgery has been investigated by flipping the mechanism.

Acknowledgements

• I would like to acknowledge the article titled "Analytical kinematics models and special geometries of a class of 4-DOF parallel mechanisms" by M.Zoppi et al.

Maintainer

This repository is maintained by:

	Vishal Ramadoss