Design and Workspace Analysis of a Differential Motion Rotary Style Breast Interventional Robot

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/abb/volume-2020/8852228/figures/8852228.fig.0020a.svgz" name="8852228.fig.0020a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Limit position of the bottom left</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/abb/volume-2020/8852228/figures/8852228.fig.0020b.svgz" name="8852228.fig.0020b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Limit position of the top left</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/abb/volume-2020/8852228/figures/8852228.fig.0020c.svgz" name="8852228.fig.0020c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Limit position of the bottom right</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/abb/volume-2020/8852228/figures/8852228.fig.0020d.svgz" name="8852228.fig.0020d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Limit position of the top right</td></tr></table>

Applied Bionics and Biomechanics

fig20

Figure 20

Figure 20: Design and Workspace Analysis of a Differential Motion Rotary Style Breast Interventional Robot 