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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：机器人框架的位移分析，可可靠，通用地用作外部固定器

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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：外固定器广泛用于整形外科领域，以管理畸形和骨折。获得机械基础设施的历史趋势已经从简单的设备（如销，杆和铰链）转变为涉及并联机械手的更复杂的框架。尽管这种机器人框架具有优点，尤其是在消除刚度问题方面，但是仍然存在与这些现代设备的可靠部署相关的问题。诸如奇异性，沿许多不同轨迹引导碎片的可能性等问题已在本文中得到处理。已经显示了一种方法，该方法如何检测片段的位移，对齐和中间位置的奇异性。除了对末端远端轨迹的影响外，还研究了如何根据不同功能来激活机器人系统。这些考虑已在数值示例中得到证明。

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