• Login
    View Item 
    •   Home
    • Massey Documents by Type
    • Theses and Dissertations
    • View Item
    •   Home
    • Massey Documents by Type
    • Theses and Dissertations
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Design and motion control of a 6-UPS fully parallel robot for long bone fracture reduction : a thesis presented in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics at Massey University

    Icon
    View/Open Full Text
    01_front.pdf (1.842Mb)
    02_whole.pdf (17.95Mb)
    Export to EndNote
    Abstract
    The incidences of long bone fractures in New Zealand are approximately 1 in 10,000. Long bones such as tibia and femur have complicated anatomic structures, making the realignment of these long bone fractures reliant on the skill of the surgeon. The drawbacks of current practice result in long time exposure to radiation, slow recovery and possible morbidity. A semi-automated long bone fracture reduction system based on a 6-DOF parallel robot platform has been in development since 2004. The developed 6-DOF parallel robot platform comprises of six linear actuators with rotary incremental encoders. To implement a realignment of long bone fractures, a framework for the 6-DOF platform robot has been developed. The inverse kinematics and singularity of the 6-DOF parallel robot has been studied to obtain the actions and Jacobin matrices. In motion control a multiple axis motion controller and amplifiers were used for 6-DOF parallel robot. PID tuning algorithms were developed based on the combination of the general tuning result and the contour control principle. The PID parameters have been validated by a number of experiments. The practical realignment of bone fractures requires a "Pull-Rotate-Push" action implemented by the 6-DOF parallel robot. After calibration, the reduction trajectories were generated accurately. The actual trials on the artificial fractures have shown that the robot developed is capable of performing the required reduction motion.
    Date
    2007
    Author
    Wu, Yimin
    Rights
    The Author
    Publisher
    Massey University
    URI
    http://hdl.handle.net/10179/12100
    Collections
    • Theses and Dissertations
    Metadata
    Show full item record

    Copyright © Massey University
    | Contact Us | Feedback | Copyright Take Down Request | Massey University Privacy Statement
    DSpace software copyright © Duraspace
    v5.7-2020.1-beta1
     

     

    Tweets by @Massey_Research
    Information PagesContent PolicyDepositing content to MROCopyright and Access InformationDeposit LicenseDeposit License SummaryTheses FAQFile FormatsDoctoral Thesis Deposit

    Browse

    All of MROCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

    My Account

    LoginRegister

    Statistics

    View Usage Statistics

    Copyright © Massey University
    | Contact Us | Feedback | Copyright Take Down Request | Massey University Privacy Statement
    DSpace software copyright © Duraspace
    v5.7-2020.1-beta1