A Complete Analysis of Singularities of a Parallel Medical Robot

This paper analyzes the singular poses of a 5-DOF parallel robot used for brachytherapy. In compliance with the latest safety protocols and requirements [3] the paper presents a new mathematical model using algebraic constraints and the Study parameterization of the Euclidian displacement group. Using algebraic methods combined with multidimension geometry proved to be efficient in the calculation of the kinematics of mechanisms and in the explanations of their behavior. The results obtained using this algebraic method were analyzed with respect to the data obtained from the experimental model of the robot by comparing theoretical computation results with the actual behavior of the robot. The analysis of the kinematics using these methods allows a complete description of working modes, singularities and robot behavior enabling a safe control throughout the medical task.