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The paper presents a comparative analysis of the 7-RR(RRRR)RR and 7-PR(RRRR)RP seven-bar linkages in order to establish the optimal structure for the design of a medical disinfection robot with folding mechanism. The best alternative is the linkage that presents the largest height range between the minimum configuration (folded position) and the maximum configuration (extended position), while also maintaining the overall size of the robot as small as possible, since the main goal of this disinfection robot is to be able to disinfect the hard-to-reach areas from the medical facilities.

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Comparative Analysis of the 7-RR(RRRR)RR and 7-PR(RRRR)RP Seven-Bar Linkages for the Design of a Medical Disinfection Robot with Folding Mechanism

  • 会议论文

  • 发表日期：

    2025年

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  • Elida-Gabriela Tulcan,
  • Carmen Sticlaru,
  • Alexandru Oarcea,
  • Melania Olivia Sandu,
  • Erwin-Christian Lovasz

摘要

The paper presents a comparative analysis of the 7-RR(RRRR)RR and 7-PR(RRRR)RP seven-bar linkages in order to establish the optimal structure for the design of a medical disinfection robot with folding mechanism. The best alternative is the linkage that presents the largest height range between the minimum configuration (folded position) and the maximum configuration (extended position), while also maintaining the overall size of the robot as small as possible, since the main goal of this disinfection robot is to be able to disinfect the hard-to-reach areas from the medical facilities.