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首页> 外文会议>IEEE Annual International Conference on Cyber Technology in Automation, Control and Intelligent Systems >Displacement analysis of robotic frames for reliable and versatile use as external fixator
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Displacement analysis of robotic frames for reliable and versatile use as external fixator

机译：可靠和多功能用作外部固定器的机器人框架的位移分析

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摘要

External fixators are widely used in the area of orthopedics to manage deformities and fractures. The historical trend in obtaining a mechanical infrastructure has shifted from simple devices like pins, rods, and hinges to more sophisticated frames involving parallel manipulators. Despite advantages of such robotic frames especially in removing stiffness issues, there are still problems associated with the reliable deployment of these modern devices. Problems like singularity, possibilities of guiding fragments along many different trajectories have been handled in this paper. A method has been shown how to detect singularity in displaced, aligned, and intermediate positions of the fragments. How the robotic system could be actuated according to different functions have been investigated, in addition to their effects on trajectories of distal fragment end. These considerations have been demonstrated on numerical examples.
机译：外部固定器广泛用于骨科面积以管理畸形和裂缝。获得机械基础设施的历史趋势已经从像销，杆，铰链等简单的装置转向更复杂的框架，涉及平行操纵器。尽管这些机器人框架具有特别优点，但特别是在去除刚度问题时，仍然存在与这些现代设备的可靠部署相关的问题。奇点等问题，在本文中已经处理了许多不同轨迹的引导碎片的可能性。已经示出了如何检测碎片的移位，对齐和中间位置的奇点性。除了对远端碎片端的轨迹的影响之外，还可以根据不同的功能致动机器人系统。已经在数值例子上证明了这些考虑因素。

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