ANALYSIS AND MANUFACTURING OF 6 DoF HYBRID ROBOT MANIPULATOR FOR TELEOPERATION IN MEDICAL APPLICATIONS

Parallel to the rapidly developing technology, robot manipulators, whose areas of usage have continuously been expanded from the last periods of past century, have taken part in many different successful applications. Thanks to its increasing significance, nowadays medical science is one of the primary areas of those applications. Thus, this study targets mainly the field of medical science. Within the scope of this paper, six degrees of freedom hybrid robot manipulator with large workspace and adequate precision was introduced and equipped with dual actuators in its two Cartesian axes for possible haptic integration for the future. Target hybrid manipulator was designed in such a way that it can be used in various related medical applications such as teleoperations in robotic surgery, surgical navigation, dental and laparoscopic simulations. After the structural design part was completed, direct and inverse kinematic analysis procedures were carried out and by using rapid prototyping techniques the manipulator was manufactured.