Direct Kinematics for a Novel Robotic System Used as External Fixator

AKÇALI İ. D., AVŞAR E., MUTLU H., AYDIN A.

1st World Robot Conference (WRC) / Symposium on Advanced Robotics and Automation (SARA), Beijing, China, 16 August 2018, pp.214-219 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/wrc-sara.2018.8584243
  • City: Beijing
  • Country: China
  • Page Numbers: pp.214-219
  • Çukurova University Affiliated: Yes

Abstract

The structure of traditional Stewart Platform systems contains six rods to connect upper and lower platforms. In this work, lambda-module - a novel connection element between the platforms is proposed and its orthopaedical application along with the associated direct kinematic analysis is presented. Physical appearance of the lambda-module resembles the Greek letter. and it consists of two cylindrical parts which may be defined as long and short rods. When the lambda-modules are used as the connection element, the risk of singularity decreases as well as the obstruction possibility of bone fragments in x-ray images. The direct kinematic analysis is based on converting the (3-6) and (6-3) systems into (3-3) SP configuration. Two numerical examples are given to support the proposed method.