会议专题

Design and Analysis of a 6-DOF Parallel Robot Used in Artificial Cervical Disc Replacement Surgery

This paper presents the design of a 6-DOF parallel robot used in the artificial cervical disc replacement surgery, which is used to complete positioning and grinding between prosthesis and bone mating surfaces and whose moving platform is connected to the fixed platform by six UPS (Universal - Prismatic-Spherical) serial chains. In the paper, inverse position, a first-order static influence coefficient matrix, Jacobian matrix, and workspace factors are analyzed for the 6-UPS parallel mechanism and the analysis results of statics, singularity and workspace are given, which is used to guide the robot structure design. What’s more, the CAD model of the robot is analyzed by finite element methods, which shows that the robot has adequate stiffness. Finally, a comprehensive analysis shows that the 6-UPS parallel robot is suitable for bone mating surfaces grinding in the artificial cervical disc replacement surgery.

Artificial Cervical Disc Replacement Surgery 6-UPS Parallel Robot Singularity Workspace and Finite Element Methods

Heqiang Tian Dongmei Wu Zhijiang Du Lining Sun

State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin,Heilongjiang Province,150080,China

国际会议

2010 IEEE信息与自动化国际会议(ICIA 2010)

哈尔滨

英文

1-6

2010-06-20(万方平台首次上网日期,不代表论文的发表时间)