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宫金良,李敏,李祥,等. 基于弹性变形和矢量叠加原理的新型整骨机器人误差分析[J]. 科学技术与工程, 2019, 19(35): 234-240.
GONG Jin-liang,LI Min,LI Xiang,et al.Analysis of Deformation Error of a Novel Fracture-Resetting Robot Based on Elastic Deformation and Vector Superposition Principle[J].Science Technology and Engineering,2019,19(35):234-240.
基于弹性变形和矢量叠加原理的新型整骨机器人误差分析
Analysis of Deformation Error of a Novel Fracture-Resetting Robot Based on Elastic Deformation and Vector Superposition Principle
投稿时间:2019-05-16  修订日期:2019-08-30
DOI:
中文关键词:  整骨机器人 机械结构 误差分析 弹性变形
英文关键词:Fracture-Resetting Robot  mechanical structure  error analysis  elastic deformation
基金项目:国家自然科学基金(61303006);山东省引进顶尖人才“一事一议”专项经费资助项目;山东省重点研发计划项目(2019GNC106127);淄博市校城融合项目(2017ZBXC151)
           
作者单位
宫金良 山东理工大学
李敏 山东理工大学
李祥 山东理工大学
张彦斐 山东理工大学 农业工程与食品科学学院
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中文摘要:
      整骨机器人作为医疗智能化辅助装备,考虑到其作业对象的特殊性,其结构设计在精度方面具有极高要求。本文针对一种新型的整骨机器人机械结构,分析了其静力学精度特性。首先确定其主要误差来源,建立了误差传递模型。然后根据几何关系和弹性变形理论对各个误差分别进行分析和研究,确定了影响误差值的结构参数与对应关系,并根据工程样机的具体数值计算出误差值。最后根据空间矢量叠加原理计算出整骨机器人末端最大变形位移,并与工程样机加载实验结果进行对比。结果表明,最大变形误差为0.638 82 mm,与实验结果基本一致,满足偏差不超过2 mm、运动精度为±0.8 mm的定位和手术要求。本文的研究为整骨机器人的结构参数设计和优化提供了理论基础。
英文摘要:
      Fracture-Resetting Robot, as a kind of intelligent auxiliary equipment for medical treatment, is highly required on precision in structural design, considering the particularity of its working object. In this paper, the static accuracy character of the mechanical structure of a new kind of Fracture-Resetting Robot was analyzed. Firstly, the error sources were ascertained and the error propagation model was established. Then each error was analyzed respectively based on the geometric relationship and elastic deformation theory. And the structural parameters affecting the value of those errors and their relationships were ascertained. Those errors were solved according to the parameters of the engineering prototype. Finally, the maximum displacement of the end part of the Fracture-Resetting Robot was calculated out based on the space vector superposition principle and examined according to the loading test results of the engineering prototype. The maximum deformation error was 0.63882mm and is in line with the test result basically. This means the positioning and surgical requirements of the Fracture-Resetting Robot, the deviation of less than 2mm and a motion accuracy of ±0.8 mm, were fully met. This study could serve as a key theoretical basis for the design and optimization of structural parameters of Fracture-Resetting Robot.
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