Workbench Statics Evaluation of the Quasi-Spherical Parallel Manipulator

Bilateral teleoperation is a technique used to remotely control robotic systems with a human operator, providing both sensory feedback and control commands. This method is essential for minimally invasive surgery, where precision and dexterity are critical. The challenge in telesurgery is ensuring accurate, real-time control while minimizing the physical presence of the surgeon. The Quasi-Spherical Parallel Manipulator (qSPM) is an innovative master device designed for such applications, integrating a fully parallel architecture to optimize control and precision. Its design allows for eight different inverse kinematics solutions, each one providing different outcomes in terms of reachable workspace. This paper investigates the Jacobian matrix of the optimal working mode of the qSPM, comparing simulated results with those obtained from experimental tests. A key focus is the analysis of the device’s performance limitations, particularly in terms of friction and clearance, which could affect the manipulation accuracy in a clinical setting.