Kinematic Analysis of a Meso-Scale Parallel Robot for Laser Phonomicrosurgery

The paper presents the kinematic model of a new meso-scale (\(\sim \)1 cm\(^3\)) parallel kinematic machine intended for laser phono-microsurgery of the vocal folds. The proposed mechanism uses the displacement generated by piezoelectric cantilever actuators manufactured via a Smart Composite Microstructure technique. The architecture, the geometry, and the position kinematics of the device, modeled as a spatial linkage, are discussed briefly. Then, the paper presents a velocity and singularity analysis and concludes that the new meso-scale parallel kinematic machine does not have singularities in the neighborhood of the reference configuration where it is required to operate.