Kinematic analysis of a Meso-Scale Parallel robot for laser Phonomicrosurgery.

Sergio Lescano (1) , Dimiter Zlatanov (2) , Micky Rakotondrabe (1) , Nicolas Andreff (1)

1 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)
2 UniGe - Università degli studi di Genova = University of Genoa

The paper presents the kinematic model of a new meso-scale (~ 1 cm3) parallel kinematic machine intended for laser phono-microsurgery of the vocal folds. The proposed mechanism uses the displacement generated by piezoelectric cantilever actuators manufactured via a Smart Composite Microstructure technique. The architecture, the geometry, and the position kinematics of the device, modeled as a spatial linkage, are discussed briefly. Then, the paper presents a velocity and singularity analysis and concludes that the new meso-scale parallel kinematic machine does not have singularities in the neighborhood of the reference configuration where it is required to operate.

Domaines: Micro et nanotechnologies/Microélectronique

Sergio Lescano, Dimiter Zlatanov, Micky Rakotondrabe, Nicolas Andreff. Kinematic analysis of a Meso-Scale Parallel robot for laser Phonomicrosurgery.. Second Conference on Interdisciplinary Applications in Kinematics, IAK'13., Jan 2013, Peru. pp.1-8. ⟨hal-00878636⟩