Workspace and Accuracy Analysis on a Novel 6‑UCU Bone‑attached Parallel Manipulator  

作　　者：Kaijie Dong Duanling Li Xingyu Xue Chang Xu Haowei Wang Xianming Gao 

机构地区：[1]School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China [2]th Research Institute of China Electronics Technology Group Corporation,Hefei 340100,China [3]Beijing Institute of Spacecraft System Engineering,China Academy of Space Technology,Beijing 100094,China [4]College of Mechanical and Electrical Engineering,Shaanxi University of Science and Technology,Xi’an 712000,China

出　　处：《Chinese Journal of Mechanical Engineering》2022年第3期148-160,共13页中国机械工程学报（英文版）

基　　金：National Natural Science Foundation of China(Grant Nos.51775052,52175019);Beijing Municipal Natural Science Foundation of China(Grant No.21C10109);Beijing Municipal Key Laboratory of Space-ground Interconnection and Convergence of China.

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 tendency of miniaturization and refinement.Thus,a bone-attached parallel manipulator(PM)based on 6-UCU(universalcylindrical-universal)configuration is proposed,which is characterized by small volume,compact structure,high precision and six-dimensional force feedback.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 workspace,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 MATLAB 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.

关 键 词：Medical robot Bone-attached robot Parallel manipulator Workspace analysis Accuracy analysis 

分 类 号：TH77[机械工程—仪器科学与技术] TP242[机械工程—精密仪器及机械]