Study On Dynamic Performance Of Robot Position System For Vibration Bone Drill

Currently,use of the medical drilling bone is hand-held bone drill,which is have many problems,such as temperature is too high,chip break and chip is difficult in drilling bone,our group designed the vibration bone drill can solve the above problems,It's been tested experimentally,but it is not suitable for hand-held operations because of its special work form and the size of the initial design and other issues,so this paper combined with UR5 robot designed a mobile platform system,which encountered power Learning the initial theoretical analysis,the main work is as follows:1.designed the three-dimensional of the mobile platform device,arranged and selected he lifting mechanism,and the modal analysis of the important components of the platform is carried out.2.deduced the conversion formula between the new Cartesian coordinate system and the flexible joint coordinate system.The formula indicates that the end stiffness of the flexible joint manipulator is not only related to the Jacobian matrix and the joint attitude,but also to the force of the end,The simulation results show that the method is more accurate than the traditional formula.3.built the torsional bone drilling experiment platform,measured the force of the bone drill in all directions;and obtained the direction of the main load force.Obtained the relationship between the attitude of the two links and the natural frequency by established the dynamic model of the two-link mechanism.4.By simplifying the platform a translation of two directions and a direction of rotation plus a flexible manipulator as four degrees of freedom model,and establishment of Lagrange equation,we can get the equation of the mass matrix and stiffness matrix and the inherent modal And the relationship between the parameters,for the future study of the system to lay the theoretical basis.