Hybrid Parallel-Serial UPURP Manipulator for Inspection and Invasive Procedures

Abstract

Numerous applications need six-degree-of-freedom parallel-serial manipulators. The purpose of this effort is to simulate and develop a customized manipulator for inspection and invasive operations. Collaboration between a master unit (hand glove), a UPURP manipulator, and a vision system demonstrates how complicated inspection operations may be accelerated. The scope readings demonstrate good stability. Additionally, all kinematic analysis was accomplished on the slave Arduino, and programs were added to assist in controlling the position and orientation via the master unit. Finally, experimental validation of the simulation results was performed for several motion regimes.

Keywords 6 DOF platform, Remote control, Serial-parallel manipulator, UPURP