Kinematic analysis of three redundant parallel mechanisms for fracture reduction

doi:10.1016/j.mechmachtheory.2023.105400

	Kinematic analysis of three redundant parallel mechanisms for fracture reduction
	Liang, Xu1 ; Zeng, Xiang 1; Li, Guotao2 ; Su, Tingting3 ; He, Guangping 1
发表期刊	MECHANISM AND MACHINE THEORY
ISSN	0094-114X
	2023-10-01
卷号	188 页码:22
通讯作者	Li, Guotao(guotao.li@ia.ac.cn)
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
DOI	10.1016/j.mechmachtheory.2023.105400
关键词[WOS]	TELEOPERATION ROBOT SYSTEM ; ARTHROPLASTY ; NAVIGATION
收录类别	SCI
语种	英语
资助项目	Beijing Natural Science Foundation, China[L202020] ; Beijing Natural Science Foundation, China[L222053] ; National Natural Science Foundation of China[62103412] ; National Natural Science Foundation of China[U22A2056] ; National Natural Science Foundation of China[62003005] ; National Natural Science Foundation of China[62103007] ; R&D Program of Beijing Municipal Education Commission, China[KM202110009009] ; R&D Program of Beijing Municipal Education Commission, China[KM202210009010] ; Natural Science Foundation of Beijing, China[4204097] ; Yuyou Talent Support Project of North China University of Technology ; Launching Scientific Research Funds of North China University of Technology
项目资助者	Beijing Natural Science Foundation, China ; National Natural Science Foundation of China ; R&D Program of Beijing Municipal Education Commission, China ; Natural Science Foundation of Beijing, China ; Yuyou Talent Support Project of North China University of Technology ; Launching Scientific Research Funds of North China University of Technology
WOS研究方向	Engineering
WOS类目	Engineering, Mechanical
WOS记录号	WOS:001010675100001
出版者	PERGAMON-ELSEVIER SCIENCE LTD
引用统计	被引频次：3[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/53511
专题	多模态人工智能系统全国重点实验室
通讯作者	Li, Guotao
作者单位	1.North China Univ Technol, Dept Mech & Elect Engn, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing, Peoples R China 3.Beijing Univ Technol, Fac Informat Technol, Beijing, Peoples R China
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	Liang, Xu,Zeng, Xiang,Li, Guotao,et al. Kinematic analysis of three redundant parallel mechanisms for fracture reduction[J]. MECHANISM AND MACHINE THEORY,2023,188:22.
APA	Liang, Xu,Zeng, Xiang,Li, Guotao,Su, Tingting,&He, Guangping.(2023).Kinematic analysis of three redundant parallel mechanisms for fracture reduction.MECHANISM AND MACHINE THEORY,188,22.
MLA	Liang, Xu,et al."Kinematic analysis of three redundant parallel mechanisms for fracture reduction".MECHANISM AND MACHINE THEORY 188(2023):22.