Kinematic analysis of three redundant parallel mechanisms for fracture reduction
文献类型：期刊论文
| 作者 | Liang, Xu1 ; Zeng, Xiang1; Li, Guotao2; Su, Tingting3; He, Guangping1
|
| 刊名 | MECHANISM AND MACHINE THEORY
 |
| 出版日期 | 2023-10-01 |
| 卷号 | 188页码:22 |
| ISSN号 | 0094-114X |
| 关键词 | Redundant parallel mechanism Surgical robot Fracture reduction Workspace Dexterity |
| DOI | 10.1016/j.mechmachtheory.2023.105400 |
| 通讯作者 | Li, Guotao(guotao.li@ia.ac.cn) |
| 英文摘要 | 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. |
| WOS关键词 | TELEOPERATION ROBOT SYSTEM ; ARTHROPLASTY ; NAVIGATION |
| 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 |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| 出版者 | PERGAMON-ELSEVIER SCIENCE LTD |
| WOS记录号 | WOS:001010675100001 |
| 资助机构 | 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 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/53510]  |
| 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 |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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