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《Chinese High Technology Letters》 2009-10
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Construction of the position and orientation error model of navigation robots for femoral neck surgery using matrix differential

Huang Rongying, Hu Lei, Liu Wenyong, Xu Yonggang(School of Mechanical Engineering and Automation, Beihang University, Beijing 100191 )  
This paper proposes a position and orientation error model of the femoral neck surgery navigation robots through ma- trix differential.The study consists of the following four steps:firstly,design of a three-dimension serial-parallel hybrid mechanical structure for the robots;secondly,construction of a navigation model through the transfer matrix based on the physical structure and the motion characteristics;thirdly,extraction of the characteristic parameters as the differential variables and establishing the position and orientation error model of surgery navigation by means of the matrix differen- tial;finally,simulation of the navigation error distributions of the two structural variables in Matlab 7.0 with the actual sizes and tolerance values of the robots as variables,which results in an error distribution as the planar and the maximum error presentation at the boundary of the plane.The proposed explicit and normatively structured error analysis model for the surgery navigation,is suitable for checking robot precision in the earlier mechanism structure design stage and is also applicable to accuracy calibration in parallel designs.
【Fund】: 国家科技支撑计划(2006BA103A16);; 北京市科委科技计划(H060720050130)资助项目
【CateGory Index】: TP242
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