Abstract
In order to realize robot-assisted spinal laminectomy surgery and meet the clinical needs of the robot workspace, including accuracy in human–robot collaboration, an asymmetrical 3-DOF spatial translational robot is proposed, which can realize spinal laminectomy in a fixed posture. First, based on the screw theory, the constraint screw system of the robot was established, and the degree of freedom was derived to verify the spatial translational ability of the robot. Then, a kinematic model of the robot was established, and a static force model of the robot was derived based on the kinematic model. The mathematical relationship between the external force and the joint force/torque was obtained, with the quality of all links considered in the model. Finally, we modeled the robot and imported it into ADAMS to obtain the static force simulation results of the 3D model. The force error was approximately 0.001 N and the torque error was approximately 0.0001 N∙m compared with the simulation results of the mathematical model, accounting for 1% of the joint force/torque, which is acceptable. The result also showed the correctness of the mathematical models, and provides a theoretical basis for motion control and human–robot collaboration.
Highlights
With the increasing trend of the aging of the population in China, spinal diseases are becoming a main complaint in clinic [1,2,3]
An asymmetric structure 3-DOF parallel robot is proposed in this paper
The robot is partially decoupled such that the motion in the coronal plane would not be affected by motion in the perpendicular direction to the coronal plane
Summary
With the increasing trend of the aging of the population in China, spinal diseases are becoming a main complaint in clinic [1,2,3]. An asymmetric structure 3-DOF parallel robot is proposed in this paper. One method is to consider the robot as a virtual system [14,15,16], which Another method is to establish a nonlinear mathematical model of the joint forc position and end force of the robot by using the force balance method [17] to rea man–robot collaboration. In the process of robot-assisted surgery, the speed and gentle, so a static force model can meet the needs. According to Equation (2), the degree of freedom of the robot can be derived as:. We can conclude that the robot could achieve translation movement in 3D space
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