Dimensional synthesis of 6-DOF parallel robot for Intra-Operative Radiation Therapy
Baoying Peng,
Yushuo Zhu,
Chuanmeng Niu
Abstract:In order to meet the kinematic requirements of large range of motion, payload, and stiffness of Intra-Operative Radiation Therapy robots, a 6-degree-of-freedom (DOF) parallel platform is introduced and a dimensional synthesis study is carried out. The kinematic and static stiffness models of the 6-DOF parallel robot for Intra-Operative Radiation Therapy are derived around a virtual isocentric control point. Under the premise of ensuring the positional accuracy, the optimal dimensions of the initial rod length,… Show more
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