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Development of a general 6-DOF paral...

Walker, Matthew R. J.

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Development of a general 6-DOF parallel robotic system: Load-control methodology for spine biomechanics testing.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Development of a general 6-DOF parallel robotic system: Load-control methodology for spine biomechanics testing./
Author:	Walker, Matthew R. J.
Description:	146 p.
Notes:	Source: Masters Abstracts International, Volume: 41-05, page: 1396.
Contained By:	Masters Abstracts International41-05.
Subject:	Biophysics, Medical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MQ76128
ISBN:	0612761282

Development of a general 6-DOF parallel robotic system: Load-control methodology for spine biomechanics testing.
Walker, Matthew R. J.

Development of a general 6-DOF parallel robotic system: Load-control methodology for spine biomechanics testing. - 146 p.

Source: Masters Abstracts International, Volume: 41-05, page: 1396.

Thesis (M.Sc.)--University of Guelph (Canada), 2003.

Parallel robots have gained popularity for applications requiring large payloads and accurate multi-degree-of-freedom (DOF) motion. This project focused on the development of a parallel robotic system to examine the injury mechanics of the structures of the lumbar intervertebral joint. Six-DOF position- and load-control algorithms were programmed for machine operation. The positional accuracy of the machine was considered substandard. The kinematic errors were attributed to problems in machine deformation, manufacturing, and assembly. These errors led to poor load-control in porcine lumbar spine tests. A 3-DOF approach improved load-control tests since the other 3-DOF loads were not explicitly controlled. Forces and the principal bending moment were satisfied within ±25N and 1Nm in 6-DOF, and ±10N and 0.25Nm in 3-DOF. The developed methods are specific to 6-DOF joint testing with parallel robots. The incorporation of these methods into a 6-DOF parallel robot with sub-millimetre accuracy is warranted for improved multidimensional joint testing.

ISBN: 0612761282Subjects--Topical Terms:

1017681
Biophysics, Medical.

Development of a general 6-DOF parallel robotic system: Load-control methodology for spine biomechanics testing.
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100 1 $a Walker, Matthew R. J. $3 1945356
245 1 0 $a Development of a general 6-DOF parallel robotic system: Load-control methodology for spine biomechanics testing.
300 $a 146 p.
500 $a Source: Masters Abstracts International, Volume: 41-05, page: 1396.
500 $a Adviser: James P. Dickey.
502 $a Thesis (M.Sc.)--University of Guelph (Canada), 2003.
520 $a Parallel robots have gained popularity for applications requiring large payloads and accurate multi-degree-of-freedom (DOF) motion. This project focused on the development of a parallel robotic system to examine the injury mechanics of the structures of the lumbar intervertebral joint. Six-DOF position- and load-control algorithms were programmed for machine operation. The positional accuracy of the machine was considered substandard. The kinematic errors were attributed to problems in machine deformation, manufacturing, and assembly. These errors led to poor load-control in porcine lumbar spine tests. A 3-DOF approach improved load-control tests since the other 3-DOF loads were not explicitly controlled. Forces and the principal bending moment were satisfied within ±25N and 1Nm in 6-DOF, and ±10N and 0.25Nm in 3-DOF. The developed methods are specific to 6-DOF joint testing with parallel robots. The incorporation of these methods into a 6-DOF parallel robot with sub-millimetre accuracy is warranted for improved multidimensional joint testing.
590 $a School code: 0081.
650 4 $a Biophysics, Medical. $3 1017681
690 $a 0760
710 2 0 $a University of Guelph (Canada). $3 1018650
773 0 $t Masters Abstracts International $g 41-05.
790 1 0 $a Dickey, James P., $e advisor
790 $a 0081
791 $a M.Sc.
792 $a 2003
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MQ76128