Knowledge Commons of Institute of Automation,CAS
Kinematic Analysis of Three Redundant Parallel Mechanisms for Fracture Reduction Surgery | |
Xu Liang1; Xiang Zeng1; Guotao Li2; Tingting Su3; Tingting Su1 | |
发表期刊 | Mechanism and Machine theory |
2023 | |
页码 | 1-26 |
摘要 | This paper mainly deals with the kinematic analysis and performance comparisons of three redundant parallel mechanisms for fracture reduction surgery. First, two novel kinematically redundant parallel mechanisms for surgical robots are proposed based on the Gough-Stewart parallel platform. The kinematics of the three mechanisms are established, and their workspaces are analyzed. The analysis result shows that the workspace volume of the redundant mechanism can be improved by 71.6%. Second, considering the stroke of redundant actuators, the effects of the slider strokes on the position and orientation workspaces are obtained. The multi-objective optimization method is used to optimize the geometric parameters of the three mechanisms. Third, the singularities of the three redundant parallel mechanisms are compared based on the dimensionally homogeneous Jacobian matrix. Finally, experiments are conducted to verify the effectiveness of the performance comparison methods in this paper. |
关键词 | Redundant parallel mechanism Surgical robot Fracture reduction Workspace Dexterity |
收录类别 | SCI |
语种 | 英语 |
七大方向——子方向分类 | 人工智能+医疗 |
国重实验室规划方向分类 | 实体人工智能系统(软、硬件) |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/51649 |
专题 | 多模态人工智能系统全国重点实验室 |
通讯作者 | Guotao Li |
作者单位 | 1.North China University of Technology 2.Institute of Automation, Chinese Academy of Sciences 3.Beijing University of Technology |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Xu Liang,Xiang Zeng,Guotao Li,et al. Kinematic Analysis of Three Redundant Parallel Mechanisms for Fracture Reduction Surgery[J]. Mechanism and Machine theory,2023:1-26. |
APA | Xu Liang,Xiang Zeng,Guotao Li,Tingting Su,&Tingting Su.(2023).Kinematic Analysis of Three Redundant Parallel Mechanisms for Fracture Reduction Surgery.Mechanism and Machine theory,1-26. |
MLA | Xu Liang,et al."Kinematic Analysis of Three Redundant Parallel Mechanisms for Fracture Reduction Surgery".Mechanism and Machine theory (2023):1-26. |
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