TY - GEN
T1 - Geometric Error Modeling of 6-RSS Parallel Robot for Cervical Spine Grinding
AU - Guo, Jiangzhen
AU - Liu, Jianze
AU - Li, Xianglong
AU - Liu, Jia
AU - Song, Jipeng
AU - Ding, Lixiang
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Cervical laminectomy is one of the main methods of decompression of the cervical spine. However, due to the small size of the cervical spine, a high degree of precision is required for the surgeon's operation. Robots are increasingly used in the field of precision surgery by virtue of accurate positioning and stable operation, and among them, a 6-RSS parallel robot has a greater potential to be applied to the cervical laminectomy, but the analysis of its geometric error is still inadequate. In this paper, we established the theoretical mechanism model of 6-RSS and analyzed the error model of the robot by a method of perturbation based on the closed-loop kinematic chain to provide theoretical support for the robot accuracy guarantee. The influence of geometric errors to the posture error of the moving platform was analyzed, which can indicate the manufacture process to provide appropriate accuracy.
AB - Cervical laminectomy is one of the main methods of decompression of the cervical spine. However, due to the small size of the cervical spine, a high degree of precision is required for the surgeon's operation. Robots are increasingly used in the field of precision surgery by virtue of accurate positioning and stable operation, and among them, a 6-RSS parallel robot has a greater potential to be applied to the cervical laminectomy, but the analysis of its geometric error is still inadequate. In this paper, we established the theoretical mechanism model of 6-RSS and analyzed the error model of the robot by a method of perturbation based on the closed-loop kinematic chain to provide theoretical support for the robot accuracy guarantee. The influence of geometric errors to the posture error of the moving platform was analyzed, which can indicate the manufacture process to provide appropriate accuracy.
KW - cervical spine
KW - error modeling
KW - parallel robot
UR - https://www.scopus.com/pages/publications/85182746300
U2 - 10.1109/DTPI59677.2023.10365487
DO - 10.1109/DTPI59677.2023.10365487
M3 - 会议稿件
AN - SCOPUS:85182746300
T3 - 2023 IEEE 3rd International Conference on Digital Twins and Parallel Intelligence, DTPI 2023
BT - 2023 IEEE 3rd International Conference on Digital Twins and Parallel Intelligence, DTPI 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2023
Y2 - 7 November 2023 through 9 November 2023
ER -