Modelling and Analysis of a Parallel Double Delta Mechanism for Robotic Surgery

In this paper we present the modelling and analysis of a novel parallel manipulator for research in laparoscopic robotic surgery. The robot’s configuration is based on the parallel linking of two Delta robots. We analyse the point and velocity kinematics of the platform, and also show that it can accommodate a dynamic remote centre of motion, tailored to the specific needs of each task. Finally, we analyse the platform’s reachable and orientation workspaces and show that it meets the demands of various tasks in laparoscopic surgery.