Kinematical simulation methods for Stewart Platform in medical equipments

Hajdú, Sándor; Bodnár, Dávid; Menyhárt, József; Békési, Zsolt

doi:10.1556/1848.2017.8.2.5

Cited by 6 publications

(2 citation statements)

References 7 publications

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“…The rotational degrees of freedom of the universal joint are complemented by the degrees of freedom of the servo drive. Also in this case 𝑓 𝑖 = 2 [15], [16], [17], [18].…”

Section: Device Degrees Of Freedommentioning

confidence: 93%

Hybrid Robotic System (Robo - HEX) for Robot-Assisted Pilon Fracture Reduction

Aubakirova,

Zhanaspayev,

Azamatov

et al. 2024

Preprint

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Intra-articular fractures of the distal tibia are complex with a high risk of complications before and after surgical treatment. Tibial pilon fractures are rare but present a serious challenge for orthopedic surgeons. There is still no universally accepted treatment protocol for pilon fracture. In traditional, the reduction of fractures has some drawbacks such as the risk of infection, low accuracy, and high radiation for surgeons. Particularly complex intra-articular fractures require a lot of force. To solve such problems, a detachable hybrid robotic system has been developed that combines a detachable parallel mechanism with a drive mode. This article describes the mechanism in detail, analyses the method of fracture reduction, presents the surgical manipulation, and verifies the reduction by experiments with bone models. The article presents the results of research to solve problems of pilon fracture management.

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“…The rotational degrees of freedom of the universal joint are complemented by the degrees of freedom of the servo drive. Also in this case 𝑓 𝑖 = 2 [15], [16], [17], [18].…”

Section: Device Degrees Of Freedommentioning

confidence: 93%

Hybrid Robotic System (Robo - HEX) for Robot-Assisted Pilon Fracture Reduction

Aubakirova,

Zhanaspayev,

Azamatov

et al. 2024

Preprint

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“…The resulting trajectory of the moving plate is thus given by a synchronized motion of the actuators. The calculation of the required piston rod extension is done with the use of inverse kinematics [21,22]. As shown in Figure 3, there is a base coordinate system O b x b y b z b fixed to the centre of the base plate.…”

Section: Stewart Platformmentioning

confidence: 99%

Application of the MiL and HiL Simulation Techniques in Stewart Platform Control Development

Walica

Noskievič

2022

Applied Sciences

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During the integration phase of a system development, we are often concerned as to whether the designed control algorithm could be performed on the selected controller in real-time. One of the tools to test and validate the control scheme is the Hardware-in-the-Loop (HiL) simulation technique, which is a part of a model-based design methodology. This approach requires a simulation model of a controlled system running in a real-time loop with an intended controller and a control algorithm, which are objects of interest in this method. To perform the test, the control algorithm must be deployed to the controller such as a PLC. This paper presents a use case of the HiL technique in the design of the Stewart platform control, where the controller is PLCnext from Phoenix Contact. The control algorithm was first verified in the Model-in-the-Loop simulation (MiL) and then generated as a code from the Matlab/Simulink environment and deployed to the PLCnext, which resulted in a smoother transition from the design to the integration and testing phase. The presented method is also applicable to other controllers that support code generation.

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