Résumé
The present paper deals with the mathematical modeling of a new 2 DOF remote center of motion spherical parallel tensegrity mechanism, dedicated to percutaneous needle interventions. Analytical inverse kinematic and numerical direct kinematic models are developed. Trilateration approach is considered in order to determine the coordinates of the joints that constitute the system. A 3D prototype of the mechanism has been developed for future evaluations. This work constitutes a first step towards the control of the mechanism.