Workspace and Accuracy Analysis on a Novel 6-UCU Bone-attached Parallel Manipulator

被引：5

作者：

Kaijie Dong ^{[1
]}

Duanling Li ^{[1
]}

Xingyu Xue ^{[1
]}

Chang Xu ^{[2
]}

Haowei Wang ^{[3
]}

Xianming Gao ^{[4
]}

机构：

[1] School of Automation, Beijing University of Posts and Telecommunications

[2] th Research Institute of China Electronics Technology Group Corporation

[3] Beijing Institute of Spacecraft System Engineering, China Academy of Space Technology

[4] College of Mechanical and Electrical Engineering, Shaanxi University of Science and Technology

来源：

Chinese Journal of Mechanical Engineering | 2022年 / 35卷 / 03期

关键词：

D O I：

暂无

中图分类号：

TH77 [医药卫生器械]; TP242 [机器人];

学科分类号：

1004 ; 1111 ;

摘要：

With the increasingly more extensive application of the medical surgical robot in the clinic, higher requirements have been put forward for medical robots. The bone-attached robot, a popular orthopedic robot in recent years, has a tendency of miniaturization and refinement. Thus, a bone-attached parallel manipulator(PM) based on 6-UCU(universalcylindrical-universal) configuration is proposed, which is characterized by small volume, compact structure, high precision and six-dimensional force feedback. To optimize the structure and make it more compact, the workspace of the 6-UCU PM is analyzed based on the analysis of three kinds of constraint, and workspace model is established through spherical coordinate search method. This study also analyzes the influence of structural parameters on workspace, which may contribute to improving the efficiency of design and ensuring small-sized robots possess relatively large workspace. Moreover, to improve the motion accuracy, an error modeling method is developed based on the structure of 6-UCU PMs. According to this established error model, the output pose error curves are drawn using MATLAB software when the structure parameters change, and the influence of the structure and pose parameters change on the output pose error of PMs is analyzed. The proposed research provides the instruction to design and analysis of small PMs such as bone-attached robots.

引用

页码：162 / 174

页数：13

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