CASIA OpenIR  > 多模态人工智能系统全国重点实验室
Kinematic analysis of three redundant parallel mechanisms for fracture reduction
Liang, Xu1; Zeng, Xiang1; Li, Guotao2; Su, Tingting3; He, Guangping1
Source PublicationMECHANISM AND MACHINE THEORY
ISSN0094-114X
2023-10-01
Volume188Pages:22
Corresponding AuthorLi, Guotao(guotao.li@ia.ac.cn)
AbstractThis 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.
KeywordRedundant parallel mechanism Surgical robot Fracture reduction Workspace Dexterity
DOI10.1016/j.mechmachtheory.2023.105400
WOS KeywordTELEOPERATION ROBOT SYSTEM ; ARTHROPLASTY ; NAVIGATION
Indexed BySCI
Language英语
Funding ProjectBeijing 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
Funding OrganizationBeijing 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 Research AreaEngineering
WOS SubjectEngineering, Mechanical
WOS IDWOS:001010675100001
PublisherPERGAMON-ELSEVIER SCIENCE LTD
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/53511
Collection多模态人工智能系统全国重点实验室
Corresponding AuthorLi, Guotao
Affiliation1.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
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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.
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