Paper ID: 2404.11140

Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery

Doina Pisla, Paul Tucan, Damien Chablat, Nadim Al Hajjar, Andra Ciocan, Adrian Pisla, Alexandru Pusca, Corina Radu, Grigore Pop, Bogdan Gherman

The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a high precision measuring arm for position (for repeatability). The accuracy was obtained by comparing the trajectory data from the experimental measurement with a baseline trajectory defined with the kinematic models of the parallel robotic system. The repeatability was experi-mentally determined by moving (repeatedly) the robot platform in predefined points.

Submitted: Apr 17, 2024