Configuration design and load capacity analysis of pelvic fracture reduction robot

摘要

Robot-assisted reduction of pelvic fracture requires large workspace and large load capacity. A kind of six degree-of-freedom (DOF) robot for pelvic fracture reduction is designed, which is a hybrid configuration composed of three-revolute-revolute-revolute (3RRR) parallel mechanism and three-dimensional guide rail. The hybrid configuration can ensure that the robot meet the needs of large workspace and large load capacity. Through the comparative analysis of dynamic and virtual prototype simulation, the reduction force of the designed reduction robot can reach 200 N. The experimental results show that the robot not only has the characteristics of high precision and high load of parallel robot, but also has the characteristics of large workspace of series robot.