TuD-2-5 ERROR ANALYSIS OF THE SURGICAL ROBOT WITH NOVEL POSITIONING MECHANISM FOR ORAL AND MAXILLOFACIAL SURGERY

Abstract

We've been developing a small and light robot for oral and maxillofacial surgery. This robot has a novel positioning mechanism, and it isn't well-known yet how the error of this mechanism occurs. In this paper, we analyzed how much effect the backlashes and installation error had on the error of the endpoint, and simulated the trajectory of the motion for positioning. As a result of the comparison between the actual position and simulated, the RMS was 0.51 [mm]. For validating this simulation the positioning accuracy was measured with the offset control in order to cancel errors. The accuracy was improved: from 1.06[mm] to 0.65[mm] (RMS). This knowledge account for selecting the suitable tolerance class of the mechanical components.