Design And Analsys Of Parelell Reduction Surgical Robot For Tibial Fracture

Robot for long bone fracture reduction with high precision,flexible movement,higher load-carrying capacity and other advantages,can solve the precision in fracture reduction surgery restricted by Doctor's operation level leading to poor homogeneity and high reduction force leads to doctor fatigue and X-rays radiate the doctors,therefore,a parallel surgical robot for lower limb fracture reduction is proposed.Firstly,analyze the methods of fracture reduction surgery at home and abroad.In traditional reduction surgery,the surgeon manually completes the reduction operation,and then uses an external bone fixator to fix the affected limb.Based on the application of external bone fixator,the research status of fracture reduction surgical robot at home and abroad was analyzed.After analyzation of the procedures of fracture reduction surgery,the indexes of the robot in working space,load capacity,structure and repeated positioning accuracy are put forward.The configuration of 6-UPS was determined,the U and S joint of the parallel robot were improved,and the intersection axis of the joint was changed into the offset orthogonal axis,so as to solve the problem of the traditional joint with small rotation angle range and limited workspace.Secondly,establish the kinematics model,and solve the normal and inverse solutions of the robot and complete simulation analysis.The spiral coordinate system of the robot was established and the force analysis of the mechanism was carried out.The relationship between the first order static influence coefficient of the mechanism and the Jacobian matrix was established.The normal and inverse solutions of the velocity and the acceleration of the mechanism were solved based on the Jacobian matrix,and the simulation analysis was conducted.Finally,analyze the workspace,singularity and stiffness of the robot.The relationship between mechanism performance and configuration parameters was established,and the configuration was optimized and improved.Complete the structural design of the mechanical system,including the design of parts and the selection of purchased parts.Using ANSYS finite element software,complete the modal analysis and static analysis of the mechanism.Assemble robot prototype,build control system and develop software program.The first order natural frequency,working space,repeated positioning accuracy and load capacity of the mechanism were tested on the experimental platform to verify the rationality of theoretical analysis and structural design of the mechanism.