title: [The relation of workspace and installation space of epicyclic kinematics with six degrees of freedom].
abstract: BACKGROUND
  The kinematics of a robotic device significantly determines its installation space when it comes to technical realisation. With regard to the deployment of robotic manipulators in surgery, manipulators with a preferably small installation space are needed.
  
  
  METHODS
  This study describes six versions of novel epicyclic kinematics with six degrees of freedom (DOF). At first, the kinematics functionality was analysed using Gruebler's formula. Subsequently, the quantitative determination of the relation of workspace and installation space was performed using Matlab algorithms. To qualitatively describe the shape of the workspace, the Matlab visualisation features were utilised. For comparison, the well-known Hexapod was used.
  
  
  RESULTS
  The assessed kinematics had 6-DOF-functionality. It became apparent that one version of the epicyclic kinematics having two 3-DOF disk systems mounted in a parallel way featured a particularly good relation of workspace and installation space. Compared to the Hexapod, this is approximately four times better. The shape of the workspaces of all epicyclic kinematics assessed was convex and compact.
  
  
  CONCLUSIONS
  It could be shown that a novel epicyclic kinematics has a notably advantageous relation of workspace and installation space. Apparently, it seems to be well suited for the deployment in robotic machines for surgical procedures.
authors.affiliation: Labor für Biomechanik und experimentelle Orthopädie, Orthopädisch-Unfallchirurgisches Zentrum (OUZ), Universitätsklinikum Mannheim, Fakultät für Medizin Mannheim, Universität Heidelberg, Deutschland. peter.pott@ortho.ma.uni-heidelberg.de
authors.forename: Peter P
authors.initials: PP
authors.lastname: Pott
authors.forename: Markus L R
authors.initials: ML
authors.lastname: Schwarz
mesh_terms: D001696:Biomechanical Phenomena / Q000379:methods; D003198:Computer Simulation; D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006804:Ergonomics / Q000295:instrumentation* / Q000379:methods*; D008962:Models, Theoretical; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods*