In recent years, parallel robots have become a hot research topic in trauma fracture treatment because of their high precision, high load capacity, and compact structure. However, parallel robots have disadvantages like small workspaces and complex singularity. In this article, a novel redundant parallel mechanism (RPM) for long bone fracture reduction is proposed based on Stewart parallel mechanism (SPM). Six kinematically redundant DOFs (degrees-of-freedom) are added to the RPM. First, the kinematics of the RPM is established, and its workspace is calculated. The analysis results indicate that the position workspace of the RPM is about 19 times larger than that of the SPM. The RPM has a similar range of torsion angles as the SPM, but a more extensive range of tilt angles than the SPM. Second, the singularities of the two parallel mechanisms are compared based on the dimensionally homogeneous Jacobian matrix. The results show that the dexterity of the RPM is much better than the SPM. Third, a multiparameter multi-objective optimization method is proposed to optimize the geometry parameters of the RPM. The statics of the RPM is analyzed by finite element analysis. To further expand the performance of the RPM, the unfixed RPM (URPM) is proposed. The analysis results show that the URPM is superior to the RPM in terms of workspace and dexterity. Finally, experiments are conducted to verify the effectiveness of the proposed methods in this article.
Journal of Mechanisms and Robotics Open Issues