骨盆骨折复位机器人的结构设计与承载能力分析

IF 0.7 Q4 ENGINEERING, MECHANICAL

Journal of Vibroengineering Pub Date : 2023-04-13 DOI:10.21595/jve.2023.22949

Shenyang Cai, Jing-Hui Lei, Jinjun Rao

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引用次数: 1

摘要

机器人辅助骨盆骨折复位需要大的工作空间和大的负载能力。设计了一种用于骨盆骨折复位的六自由度（DOF）机器人，该机器人是由三回转-回转（3RRR）并联机构和三维导轨组成的混合构型。混合配置可以确保机器人满足大工作空间和大负载能力的需求。通过动态仿真与虚拟样机仿真的对比分析，设计的减速机器人的减速力可达200N。实验结果表明，该机器人不仅具有并联机器人的高精度、高负载特性，还具有串联机器人的大工作空间特性。

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Configuration design and load capacity analysis of pelvic fracture reduction robot

Robot-assisted reduction of pelvic fracture requires large workspace and large load capacity. A kind of six degree-of-freedom (DOF) robot for pelvic fracture reduction is designed, which is a hybrid configuration composed of three-revolute-revolute-revolute (3RRR) parallel mechanism and three-dimensional guide rail. The hybrid configuration can ensure that the robot meet the needs of large workspace and large load capacity. Through the comparative analysis of dynamic and virtual prototype simulation, the reduction force of the designed reduction robot can reach 200 N. The experimental results show that the robot not only has the characteristics of high precision and high load of parallel robot, but also has the characteristics of large workspace of series robot.

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来源期刊

Journal of Vibroengineering 工程技术-工程：机械

CiteScore

1.70

自引率

0.00%

发文量

审稿时长

4.5 months

期刊介绍： Journal of VIBROENGINEERING (JVE) ISSN 1392-8716 is a prestigious peer reviewed International Journal specializing in theoretical and practical aspects of Vibration Engineering. It is indexed in ESCI and other major databases. Published every 1.5 months (8 times yearly), the journal attracts attention from the International Engineering Community.