Kinematic analysis of a novel 2-d.o.f. orientation device

Abstract

This paper presents the development of a new parallel robot designed for helping with bone milling surgeries. The robot is a small modular wrist with 2 active degrees of freedom, and it is proposed to be used as an orientation device located at the end of a robotic arm designed for bone milling processes. A generic 2UPS-1S kinematic geometry is proposed for this device. This first article shows the developments on the workspace optimization and the analysis of the force field required to complete a reconstruction of the inferior jawbone. The singularities of the mechanism are analyzed, and the actuator selection is justified with the torque requirements and the study of the force space. The results obtained by the simulations allow building a first prototype using linear motors. Bone milling experiment video is shown as additional material.

A Review of Parallel Robots: Rehabilitation, Assistance, and Humanoid Applications for Neck, Shoulder, Wrist, Hip, and Ankle Joints

“…The singularities of the mechanism were analyzed, and the motor selection was justified based on torque requirements. The study also presented simulation results and a prototype using linear motors [68].…”

Robotics for facial reconstruction using medical images

“…The robot used in this system was designed and assembled exclusively for this purpose. The robot is a two-bar parallel type, with two modular degrees of freedom [6], and with all the characteristics of a robot with a parallel structure: speed, precision, and small workspace, among others. The operation of the system can be considered in two phases: a first phase in which all virtual tests will be performed with the 3D reconstruction of skull-maxillofacial images and the haptic joystick, until obtaining the desired results; and a second phase in which the joystick controls the end effector of the robot to perform tests on solids such as skulls printed with 3D printers or on the bones of animals such as pigs.…”

A micro-adjusting attitude mechanism for autonomous drilling robot end-effector

“…Thus, micro-adjusting attitude is the key technology in automatic drilling system [3]. In recent years, many researchers have conducted a great deal of studies on the calculation method of mechanism, most of which are parallel mechanisms, for example, the 2UPS-1U mechanism [4], the CAPAMAN parallel mechanism [5], the 2R1T mechanism [6], and the 8 legs parallel mechanism [7]. All the parallel adjusting attitude mechanisms mentioned above are confronted with a common shortage, that is, it is required to move the drill point after adjusting the drill attitude.…”

“…This recursive progress is time-consuming. A robot drilling system with attitude adjusting module produced by the Electroimpact (EI) company has been applied in airplane assembly in Boeing Company in American 4) . Zhang and Wang [8] designed an adjusting attitude mechanism that comprising two axes which are vertical to each other to drive the spindle to coincide with the normal vector.…”