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Study on the Modeling and Compensation Method of Pose Error Analysis for the Fracture Reduction Robot

Background: In the process of fracture reduction, there are some errors between the actual trajectory and the ideal trajectory due to mechanism errors, which would affect the smooth operation of fracture reduction. To this end, based on self-developed parallel mechanism fracture reduction robot (FRR...

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Autores principales: Liu, Minghe, Li, Jian, Sun, Hao, Guo, Xin, Xuan, Bokai, Ma, Lifang, Xu, Yuexuan, Ma, Tianyi, Ding, Qingsong, An, Baichuan
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9413538/
https://www.ncbi.nlm.nih.gov/pubmed/36014108
http://dx.doi.org/10.3390/mi13081186
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author Liu, Minghe
Li, Jian
Sun, Hao
Guo, Xin
Xuan, Bokai
Ma, Lifang
Xu, Yuexuan
Ma, Tianyi
Ding, Qingsong
An, Baichuan
author_facet Liu, Minghe
Li, Jian
Sun, Hao
Guo, Xin
Xuan, Bokai
Ma, Lifang
Xu, Yuexuan
Ma, Tianyi
Ding, Qingsong
An, Baichuan
author_sort Liu, Minghe
collection PubMed
description Background: In the process of fracture reduction, there are some errors between the actual trajectory and the ideal trajectory due to mechanism errors, which would affect the smooth operation of fracture reduction. To this end, based on self-developed parallel mechanism fracture reduction robot (FRR), a novel method to reduce the pose errors of FRR is proposed. Methods: Firstly, this paper analyzed the pose errors, and built the model of the robot pose errors. Secondly, mechanism errors of FRR were converted into drive bar parameter’s errors, and the influence of each drive bar parameter on the robot pose error were analyzed. Thirdly, combining with Cauchy opposition-based learning and differential evolution algorithm (DE), an improved whale optimization algorithm (CRLWOA-DE) is proposed to compensate the end-effector’s pose errors, which could improve the speed and accuracy of fracture reduction, respectively. Results: The iterative accuracy of CRLWOA-DE is improved by 50.74%, and the optimization speed is improved by 22.62% compared with the whale optimization algorithm (WOA). Meanwhile, compared with particle swarm optimization (PSO) and ant colony optimization (ACO), CRLWOA-DE is proved to be more accurate. Furthermore, SimMechanics in the software of MATLAB was used to reconstruct the fracture reduction robot, and it was verified that the actual motion trajectory of the CRLWOA-DE optimized kinematic stage showed a significant reduction in error in both the x-axis and z-axis directions compared to the desired motion trajectory. Conclusions: This study revealed that the error compensation in FRR reset process had been realized, and the CRLWOA-DE method could be used for reducing the pose error of the fracture reduction robot, which has some significance for the bone fracture and deformity correction.
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spelling pubmed-94135382022-08-27 Study on the Modeling and Compensation Method of Pose Error Analysis for the Fracture Reduction Robot Liu, Minghe Li, Jian Sun, Hao Guo, Xin Xuan, Bokai Ma, Lifang Xu, Yuexuan Ma, Tianyi Ding, Qingsong An, Baichuan Micromachines (Basel) Article Background: In the process of fracture reduction, there are some errors between the actual trajectory and the ideal trajectory due to mechanism errors, which would affect the smooth operation of fracture reduction. To this end, based on self-developed parallel mechanism fracture reduction robot (FRR), a novel method to reduce the pose errors of FRR is proposed. Methods: Firstly, this paper analyzed the pose errors, and built the model of the robot pose errors. Secondly, mechanism errors of FRR were converted into drive bar parameter’s errors, and the influence of each drive bar parameter on the robot pose error were analyzed. Thirdly, combining with Cauchy opposition-based learning and differential evolution algorithm (DE), an improved whale optimization algorithm (CRLWOA-DE) is proposed to compensate the end-effector’s pose errors, which could improve the speed and accuracy of fracture reduction, respectively. Results: The iterative accuracy of CRLWOA-DE is improved by 50.74%, and the optimization speed is improved by 22.62% compared with the whale optimization algorithm (WOA). Meanwhile, compared with particle swarm optimization (PSO) and ant colony optimization (ACO), CRLWOA-DE is proved to be more accurate. Furthermore, SimMechanics in the software of MATLAB was used to reconstruct the fracture reduction robot, and it was verified that the actual motion trajectory of the CRLWOA-DE optimized kinematic stage showed a significant reduction in error in both the x-axis and z-axis directions compared to the desired motion trajectory. Conclusions: This study revealed that the error compensation in FRR reset process had been realized, and the CRLWOA-DE method could be used for reducing the pose error of the fracture reduction robot, which has some significance for the bone fracture and deformity correction. MDPI 2022-07-27 /pmc/articles/PMC9413538/ /pubmed/36014108 http://dx.doi.org/10.3390/mi13081186 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Liu, Minghe
Li, Jian
Sun, Hao
Guo, Xin
Xuan, Bokai
Ma, Lifang
Xu, Yuexuan
Ma, Tianyi
Ding, Qingsong
An, Baichuan
Study on the Modeling and Compensation Method of Pose Error Analysis for the Fracture Reduction Robot
title Study on the Modeling and Compensation Method of Pose Error Analysis for the Fracture Reduction Robot
title_full Study on the Modeling and Compensation Method of Pose Error Analysis for the Fracture Reduction Robot
title_fullStr Study on the Modeling and Compensation Method of Pose Error Analysis for the Fracture Reduction Robot
title_full_unstemmed Study on the Modeling and Compensation Method of Pose Error Analysis for the Fracture Reduction Robot
title_short Study on the Modeling and Compensation Method of Pose Error Analysis for the Fracture Reduction Robot
title_sort study on the modeling and compensation method of pose error analysis for the fracture reduction robot
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9413538/
https://www.ncbi.nlm.nih.gov/pubmed/36014108
http://dx.doi.org/10.3390/mi13081186
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