Grinding Method, Trajectory Planning and Simulation of a 3 DOF Knee Grinding Robot

Abstract

This paper aims to improve the accuracy of robot-assisted grinding in total knee arthroplasty (TKA). For this purpose, a 3 DOF knee grinding robot was designed, combining the merits of series robot and parallel robot. The kinematics equations of the robot were derived by the vector method and the workspace of the robot was identified through Monte-Carlo method. Then, the grinding method of the robot was developed according to the procedure of the TKA. Specifically, the grinding trajectory was planned considering the implant selected for the patient. First, the plane and boundary equations of the implant were determined; then, the femur was ground into the desired shape; after that, the implant was cut off with a ball cutting tool vertically to the depth equal to the row spacing. To validate the trajectory planning method, a simulation analysis was performed on the planned trajectory. The results prove the feasibility and efficiency of the proposed method. The research findings shed new light on the robot-assisted TKA.

Manipulator Trajectory Tracking Based on Kinematics Model Predictive Control

“…With the rising level of industrial intelligence, scholars at home and abroad are paying attention to the trajectory planning and optimization of industrial robots. The optimization algorithm must satisfy both kinematic and dynamic constraints [9][10][11][12]. After improving the Denavit-Hartenberg (DH) parameters, Ragaglia et al [13] constructed a homogeneous transformation matrix between the rods of the industrial robot, built a kinematics model of the robot system through Newton-Euler iterative method, and calculated the working efficiency and error of the robot on MATLAB.…”