Modelling, design and control of 3DOF medical parallel robot

Abstract

The paper presents design and control simulations of ISOGLIDE3 parallel robot. An innovative user interface for high-level control of a 3 DOF parallel robot is also pre-sented. The robot interface using virtual reality was veri-fied and tested, and results in MATLAB, Simulink, and SimMechanics were presented. The ISOGLIDE3 robot offers the superior characteristics with regards to the other parallel manipulators, such as the light weight construc-tion. The presented 3 DOF parallel robot can be used for surgery due to its overall precision, good dynamic behav-ior.