Dexterity Analysis of a Surgical Assistant 6-UPS Parallel Robot

A 6-UPS parallel is adopted to complete mating surfaces grinding of the cervical implant prosthesis instead of the manual surgical instruments in robot-assisted surgery cervical disc replacement system. Therefore, the surgical assistant parallel robot end-effector has better flexibility in some continuous space and best movement and force transmission performance on the moving trajectory beyond reasonable structures and enough degrees of freedom of the grinding movement. In this paper, the dexterity of the surgical assistant 6-UPS parallel robot is analyzed. Firstly, the vector construction method is used to solve Jacobian matrix of the surgical assistant 6-UPS parallel robot, and then the linear velocity and angular velocity dexterity indicators are used to analyze the dexterity of the surgical assistant parallel robot. From the results, the parallel robot movement and force transmission performance degrades away from the surgical space and the cervical vertebra grinding parallel robot has best grinding performance near the center surgical workspace of the moving platform.