Nicolae Plitea

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SUMMARY Robotic-assisted surgery is a continuously developing field because robots have demonstrated clear benefits in operating rooms. Until now, vast majority of robots used in surgery had serial structures. This paper presents the kinematic modelling of a 5-degree of freedom hybrid parallel architecture in two slightly different variants. The kinematics(More)
Reconfigurable robots can be defined as a group of robots that can have different geometries, thus obtaining different structures derived from the basic one, having different degrees of freedom and workspaces. Thanks to the optimum dexterity they offer, the user can accomplish a large variety of industrial tasks, using a structurally optimized robot leading(More)
Modeling and simulation is one of the essential aspects in the robots research field. In order to understand the importance of the graphical simulation it is necessary to consider why and where the simulation systems are mainly used. The industrial tendency is to develop simulation systems, which could be of help for the systems (robots) off-line control(More)
Several medical applications require devices capable of placing different substances inside the human body. Due to the nature of the task it is desirable to perform these actions with visual feedback, whereas the most viable solution, especially for deep target points, is computer tomography (CT). The paper presents an innovative device, which can be fitted(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)