Alaa Khalifa

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This paper describes a methodology to identify all the parameters of a quadrotor system including the structure parameters and rotor assembly parameters. A CAD model is developed using SOLIDWORKS to calculate the mass moment of inertia and all the missing geometrical parameters. A three simple test rigs are built and used to identify the relationship(More)
This paper presents the experimental implementation of a teleoperated endoscopic surgical manipulator system that uses PHANTOM Omni haptic device as the master. The 4-DOF, 2-PUU 2-PUS, endoscopic surgical parallel manipulator design is carried out using screw theory and Parallel virtual chain methodology to have larger bending angles and workspace volume.(More)
This paper presents the singularity analysis of a novel endoscopic surgical parallel manipulator. The 4-DOF, 2- PUU_2-PUS, surgical robot design has larger bending angles and workspace volume. All previous manipulators have a zero pitch and infinity pitch reciprocal screws, so it is easy to find out the singular configurations inside the workspace. On the(More)
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