Kinematic analysis of a novel 2-d.o.f. orientation device

This paper presents the development of a new parallel robot designed for helping with bone milling surgeries. The robot is a small modular wrist with 2 active degrees of freedom, and it is proposed to be used as an orientation device located at the end of a robotic arm designed for bone milling processes. A generic 2UP¯S-1S kinematic geometry is proposed for this device. This first article shows the developments on the workspace optimization and the analysis of the force field required to complete a reconstruction of the inferior jawbone. The singularities of the mechanism are analyzed, and the actuator selection is justified with the torque requirements and the study of the force space. The results obtained by the simulations allow building a first prototype using linear motors. Bone milling experiment video is shown as additional material.

► We provide a methodology based on screw theory to analyze the kinematics of the 2UPS1S platform.
► We present a design methodology for optimization of the workspace of parallel platform.
► We present a prototype designed for helping with bone milling surgeries.
► We present the model of the physical constraints of the mechanical joints.