1 citations · 1 across the 4 of their papers we have counts for
6 papers
Workspace Analysis for Laparoscopic Rectal Surgery : A Preliminary Study
Alexandra Thomieres, Dhruva Khanzode, Emilie Duchalais +2
The integration of medical imaging, computational analysis, and robotic technology has brought about a significant transformation in minimally invasive surgical procedures, particu…
Stacked Tensegrity Mechanism for Medical Application
Dhruva Khanzode, Ranjan Jha, Emilie Duchalais +1
In this article a multi-segmented planar tensegrity mechanism was presented. This mechanism has a three-segment structure with each segment residing on top of another. The size of…
Kinematics and workspace analysis of a 3ppps parallel robot with u-shaped base
Damien Chablat, Luc Baron, Ranjan Jha
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of par…
An algebraic method to check the singularity-free paths for parallel robots
Ranjan Jha, Damien Chablat, Fabrice Rouillier +1
Trajectory planning is a critical step while programming the parallel manipulators in a robotic cell. The main problem arises when there exists a singular configuration between the…
Workspace and Singularity analysis of a Delta like family robot
R. Jha, Damien Chablat, Fabrice Rouillier +1
Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysi…
Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot
Damien Chablat, Ranjan Jha, Fabrice Rouillier +1
Having non-singular assembly modes changing trajectories for the 3-RPS parallel robot is a well-known feature. The only known solution for defining such trajectory is to encircle a…