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, Çin, 16 Ağustos 2018, ss.214-219 identifier identifier

  • Cilt numarası:
  • Doi Numarası: 10.1109/wrc-sara.2018.8584243
  • Basıldığı Şehir: Beijing
  • Basıldığı Ülke: Çin
  • Sayfa Sayıları: ss.214-219

Özet

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.