D.L. Pisla

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The paper presents the singularity and workspace analysis of PARAMIS — the first parallel robot, for camera guidance in minimally invasive surgical procedures developed in Romania. The graphical workspace is achieved through a series of geometric constructions in modeling software. The analytical workspace is achieved through a simple method based on(More)
Robots are useful tools in minimally invasive surgery (MIS), providing benefits such as elimination of hand tremor, better accessibility, possibility of working in awkward positions, workspace scaling and teleoperation. This paper presents the design of a software application and the experimental results regarding the control of PARAMIS surgical parallel(More)
Many different designs for the walking machines exist, some of them are based on wheels and another type of walking machines have anthropomorphic legs. A third kind of walking machine, which has both wheels and legs, is called as a hybrid. The hybrid robots are efficient for all kinds of environments. A low cost hexapod robot prototype with legs and wheels(More)
The paper presents some aspects about the kinematics and workspace of a new parallel robot developed for minimally invasive surgery. Possible motion of the active joints and the laparoscope movement in surgery field are generated using Matlab software. The robot workspace is generated using the developed geometrical model. The benefits of this parallel(More)
In the last decades, the technological progress and especially the industrial robotics development has practically led to the appearance of a new robots generation based on the closed-loop kinematical chains, namely parallel robots. The parallel robots can provide the complementary solution for the serial classical robots due to their higher positioning(More)
This paper presents different control system for parallel robots. The PARMIS robot is used in minimally invasive surgery. PARMIS robotic system consists of three robotic arms PARAMIS and PARASURG-9M right hand and left hand. PARASURG-9M arm consists of PARASURG 5M and left robotic PARASIM, a dexterous 4-DOFS surgical instrument. The paper presents the(More)
The paper presents the mechanical and electronic structure, the basic functions and the operation block diagrams developed for the command and control unit of the PARASURG 9M hybrid parallel robot. The operator interface, structure and functions, algorithm and operating diagrams, deployment and implementation of the of CIParmis program are illustrated. The(More)
— * Reconfigurable robots can be defined as a specific category of robots in which their components (individual joints and links) can be assembled in different configurations and geometries. The paper presents the inverse dynamic model for a 5-DOF reconfigurable parallel robot using virtual work principle. Some simulation results for this reconfigurable(More)
The results of successful experiments for investigating the earthquake effects on mechanism operation by using Cassino Parallel Manipulator (CaPaMan) as an earthquake simulator are presented. The experimental tests have been carried on by using a slider-crank and a four bar linkage as representing machine operations. The mechanism behavior has been(More)
In the paper a distributed control interface with modular, flexible and configurable structure is presented to allow the implementation of program packages used for command and control of a robotic structures, particularly used as helicopter flight simulator. The development of major parts is organized on hierarchic levels: subsystem for local command and(More)