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

Simple item page
dc.contributor.authorWu, Yimin
dc.date.accessioned2017-09-28T02:17:40Z
dc.date.available2017-09-28T02:17:40Z
dc.date.issued2007
dc.description.abstractThe 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.en_US
dc.identifier.urihttp://hdl.handle.net/10179/12100
dc.language.isoenen_US
dc.publisherMassey Universityen_US
dc.rightsThe Authoren_US
dc.subjectParallel robotsen_US
dc.subjectRobots -- Kinematicsen_US
dc.subjectFractures -- Surgeryen_US
dc.subjectAutomationen_US
dc.titleDesign 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 Universityen_US
dc.typeThesisen_US
massey.contributor.authorWu, Yimin
thesis.degree.disciplineMechatronicsen_US
thesis.degree.grantorMassey Universityen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Engineering (M. E.)en_US
Files
Original bundle
Now showing 1 - 2 of 2
Thumbnail Image
Name:
01_front.pdf
Size:
1.84 MB
Format:
Adobe Portable Document Format
Description:
Download
Thumbnail Image
Name:
02_whole.pdf
Size:
17.95 MB
Format:
Adobe Portable Document Format
Description:
Download
License bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
license.txt
Size:
3.32 KB
Format:
Item-specific license agreed upon to submission
Description:
Download
Collections
Theses and Dissertations