Superposition and Decomposition Analysis of Limbs’ Vibration Based on 6-UPS Tibia Fracture Reduction Surgical Robot

Zhenyi Wang, Hongjian Yu, Xiangyu Shen, Dongru Xie, Hao Wang, Zhijiang Du

2023

Abstract

This article establishes the inverse kinematic model and forward kinematic model of the 6-UPS Stewart platform. Based on the existing 6-UPS tibial fracture reduction robot, the characteristics of the linear vibration unit and its installation on the robot limbs are analyzed. Under the condition that the moving platform outputs vibration along the force line direction, the superposition conditions of vibration in each limb are verified through forward kinematics, and the basic conditions for vibration synthesis are solved. Then, based on inverse kinematics, the desired vibration of the moving platform is decomposed to obtain the vibration equations that need to be output by the linear vibration units on each limb. Finally, combined with the Newton-Euler method, the robot dynamics are analyzed, and the model is imported into ADAMS for simulation verification, providing a theoretical basis for realizing the rehabilitation function of the 6-UPS tibial fracture reduction robot by adding linear vibration units.

Paper Citation

in Harvard Style

Wang Z., Yu H., Shen X., Xie D., Wang H. and Du Z. (2023). Superposition and Decomposition Analysis of Limbs’ Vibration Based on 6-UPS Tibia Fracture Reduction Surgical Robot. In Proceedings of the 2nd International Seminar on Artificial Intelligence, Networking and Information Technology - Volume 1: ANIT; ISBN 978-989-758-677-4, SciTePress, pages 86-92. DOI: 10.5220/0012274600003807

in Bibtex Style

@conference{anit23,
author={Zhenyi Wang and Hongjian Yu and Xiangyu Shen and Dongru Xie and Hao Wang and Zhijiang Du},
title={Superposition and Decomposition Analysis of Limbs’ Vibration Based on 6-UPS Tibia Fracture Reduction Surgical Robot},
booktitle={Proceedings of the 2nd International Seminar on Artificial Intelligence, Networking and Information Technology - Volume 1: ANIT},
year={2023},
pages={86-92},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012274600003807},
isbn={978-989-758-677-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 2nd International Seminar on Artificial Intelligence, Networking and Information Technology - Volume 1: ANIT
TI - Superposition and Decomposition Analysis of Limbs’ Vibration Based on 6-UPS Tibia Fracture Reduction Surgical Robot
SN - 978-989-758-677-4
AU - Wang Z.
AU - Yu H.
AU - Shen X.
AU - Xie D.
AU - Wang H.
AU - Du Z.
PY - 2023
SP - 86
EP - 92
DO - 10.5220/0012274600003807
PB - SciTePress