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This paper presents the kinematic modelling of a 5-degree of freedom hybrid parallel architecture in two slightly different variants. The kinematics of this structure is determined, and following the analysis of singularities, the best variant is chosen. The robot workspace is computed and finally the experimental model and some simulation results are presented.<\/jats:p>","DOI":"10.1017\/s0263574711001299","type":"journal-article","created":{"date-parts":[[2012,1,10]],"date-time":"2012-01-10T11:45:09Z","timestamp":1326195909000},"page":"1095-1107","source":"Crossref","is-referenced-by-count":34,"title":["Kinematic modelling of a 5-DOF hybrid parallel robot for laparoscopic surgery"],"prefix":"10.1017","volume":"30","author":[{"given":"Doina","family":"Pisla","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bogdan","family":"Gherman","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Calin","family":"Vaida","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nicolae","family":"Plitea","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2012,1,10]]},"reference":[{"key":"S0263574711001299_ref42","unstructured":"Maxon Motor AG, \u201cMaxon Motor Control,\u201d User CD-ROM (2008)."},{"key":"S0263574711001299_ref18","first-page":"278","volume-title":"Proceedings of the 3rd International Symposium on Biomedical Engineering","author":"Saing","year":"2008"},{"key":"S0263574711001299_ref21","unstructured":"Titan Medical Homepage, http:\/\/www.titanmedicalinc.com\/ (2010)."},{"key":"S0263574711001299_ref23","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4020-8600-7_48"},{"key":"S0263574711001299_ref20","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.247"},{"key":"S0263574711001299_ref43","unstructured":"B & R, \u201cAutomation Studio, Control Software,\u201d DVD-ROM (2011)."},{"key":"S0263574711001299_ref4","volume-title":"Proceedings of NSF Workshop on Medical Robotics and Computer-Assisted Medical Interventions","author":"Taylor","year":"1996"},{"key":"S0263574711001299_ref40","doi-asserted-by":"publisher","DOI":"10.1109\/70.56660"},{"key":"S0263574711001299_ref31","first-page":"358","volume-title":"ICRA \u201804","author":"Beasley","year":"2004"},{"key":"S0263574711001299_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/51.391776"},{"key":"S0263574711001299_ref27","first-page":"53","article-title":"A new algorithm for helical gear design with addendum modification","volume":"3","author":"Antal","year":"2009","journal-title":"Mechanika"},{"key":"S0263574711001299_ref24","doi-asserted-by":"publisher","DOI":"10.1002\/pamm.200700850"},{"key":"S0263574711001299_ref39","first-page":"5","article-title":"Innovative development of parallel robots and microrobots","volume":"49","author":"Plitea","year":"2006","journal-title":"Acta Tehnica Napocensis Ser. 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