典型文献
Workspace and Accuracy Analysis on a Novel 6-UCU Bone-attached Parallel Manipulator
文献摘要：
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 ten-dency of miniaturization and refinement.Thus,a bone-attached parallel manipulator(PM)based on 6-UCU(universal-cylindrical-universal)configuration is proposed,which is characterized by small volume,compact structure,high precision and six-dimensional force feed back.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 work-space,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 MAT-LAB 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.
文献关键词：
中图分类号：
作者姓名：
Kaijie Dong;Duanling Li;Xingyu Xue;Chang Xu;Haowei Wang;Xianming Gao
作者机构：
School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China;238th Research Institute of China Electronics Technology Group Corporation,Hefei 340100,China;Beijing Institute of Spacecraft System Engineering,China Academy of Space Technology,Beijing 100094,China;College of Mechanical and Electrical Engineering,Shaanxi University of Science and Technology,Xi'an 712000,China
文献出处：
引用格式：
[1]Kaijie Dong;Duanling Li;Xingyu Xue;Chang Xu;Haowei Wang;Xianming Gao-.Workspace and Accuracy Analysis on a Novel 6-UCU Bone-attached Parallel Manipulator)[J].中国机械工程学报,2022(03):148-160
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B类：
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AB值：
0.54668
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