Design and Analysis of a Novel Redundant Parallel Mechanism for Long Bone Fracture Reduction
文献类型：期刊论文
| 作者 | Su, Tingting1 ; Yuan, Quan2; Liang, Xu3; Yan, Yuchen2; Zhang, Haojian4; Jian, Xianjie2; He, Guangping2; Zhao, Quanliang2
|
| 刊名 | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
 |
| 出版日期 | 2024-08-01 |
| 卷号 | 16期号:8页码:11 |
| 关键词 | fracture reduction redundant parallel mechanism kinematics workspace singularity mechanism design mechanisms and robotics medical robotics parallel mechanisms and robots |
| ISSN号 | 1942-4302 |
| DOI | 10.1115/1.4063981 |
| 通讯作者 | Liang, Xu(liangxu2013@ia.ac.cn) |
| 英文摘要 | In recent years, parallel robots have become a hot research topic in trauma fracture treatment because of their high precision, high load capacity, and compact structure. However, parallel robots have disadvantages like small workspaces and complex singularity. In this article, a novel redundant parallel mechanism (RPM) for long bone fracture reduction is proposed based on Stewart parallel mechanism (SPM). Six kinematically redundant DOFs (degrees-of-freedom) are added to the RPM. First, the kinematics of the RPM is established, and its workspace is calculated. The analysis results indicate that the position workspace of the RPM is about 19 times larger than that of the SPM. The RPM has a similar range of torsion angles as the SPM, but a more extensive range of tilt angles than the SPM. Second, the singularities of the two parallel mechanisms are compared based on the dimensionally homogeneous Jacobian matrix. The results show that the dexterity of the RPM is much better than the SPM. Third, a multiparameter multi-objective optimization method is proposed to optimize the geometry parameters of the RPM. The statics of the RPM is analyzed by finite element analysis. To further expand the performance of the RPM, the unfixed RPM (URPM) is proposed. The analysis results show that the URPM is superior to the RPM in terms of workspace and dexterity. Finally, experiments are conducted to verify the effectiveness of the proposed methods in this article. |
| WOS关键词 | MANIPULATOR |
| 资助项目 | National Natural Science Foundation of China[62373013] ; National Natural Science Foundation of China[62003005] ; National Natural Science Foundation of China[62103007] ; Beijing Natural Science Foundation[L202020] ; R&D Program of Beijing Municipal Education Commission[KM202110009009] ; R&D Program of Beijing Municipal Education Commission[KM202210009010] ; Natural Science Foundation of Beijing[4204097] ; Natural Science Foundation of Beijing[L222058] ; Yuyou Talent Support Project of North China University of Technology ; Fundamental Research Funds for Beijing Municipal Universities |
| WOS研究方向 | Engineering ; Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:001271425900004 |
| 出版者 | ASME |
| 资助机构 | National Natural Science Foundation of China ; Beijing Natural Science Foundation ; R&D Program of Beijing Municipal Education Commission ; Natural Science Foundation of Beijing ; Yuyou Talent Support Project of North China University of Technology ; Fundamental Research Funds for Beijing Municipal Universities |
| 源URL | [http://ir.ia.ac.cn/handle/173211/59336]  |
| 专题 | 智能制造技术与系统研究中心_先进制造与自动化 |
| 通讯作者 | Liang, Xu |
| 作者单位 | 1.Beijing Univ Technol, Fac Informat Technol, Beijing 100124, Peoples R China 2.North China Univ Technol, Dept Mech & Mat Engn, Beijing 100144, Peoples R China 3.Beijing Jiaotong Univ, Sch Elect & Informat Engn, Beijing 100044, Peoples R China 4.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Su, Tingting,Yuan, Quan,Liang, Xu,et al. Design and Analysis of a Novel Redundant Parallel Mechanism for Long Bone Fracture Reduction[J]. JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME,2024,16(8):11. |
| APA | Su, Tingting.,Yuan, Quan.,Liang, Xu.,Yan, Yuchen.,Zhang, Haojian.,...&Zhao, Quanliang.(2024).Design and Analysis of a Novel Redundant Parallel Mechanism for Long Bone Fracture Reduction.JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME,16(8),11. |
| MLA | Su, Tingting,et al."Design and Analysis of a Novel Redundant Parallel Mechanism for Long Bone Fracture Reduction".JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME 16.8(2024):11. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。