A robotic system for the reduction of fractured femur bone is proposed in this research to help orthopedics during the labor intensive bone reduction procedures and also save them from radiation stimulated environment. Fractured femur reduction is a good candidate for robotics application owing to its elongated anatomy and strong counteracting forces from surrounding muscles. However, the robot forces should be compliant, and motions need to be accurate. Aiming to achieve these two conflicting objective, a parallel robot actuated by six intrinsically compliant actuators is being proposed here. After an initial design analysis, three performance metrics, namely, the conditioning index, actuator force index and interaction compliance index were identified and formulated. An evolutionary algorithm SPEA2 was employed to simultaneously optimize these objectives by varying the key robot design variables. Subsequent to the optimization, an optimal robot design is obtained which provides the best trade-off between the performance measures. Initial proof of concept experiments were carried out whereby the robot was tested for trajectory following accuracies while maneuvering the moving platform about the three axes. A fuzzy based closed loop feedback controller was implemented on the robot. Excellent trajectory tracking results were observed in response to the sinusoidal inputs.

在这项研究中，提出了一种用于减少股骨骨折的机器人系统，以帮助骨科在劳动密集型的骨减少手术过程中，并使他们免受辐射刺激的环境的影响。股骨骨折复位由于其细长的解剖结构和来自周围肌肉的强大反作用力，因此是机器人应用的良好选择。但是，机器人的力应服从，并且运动必须准确。为了实现这两个矛盾的目的，在此提出了一种由六个内在兼容的致动器致动的并联机器人。经过初步设计分析，确定并制定了三个性能指标，即调节指标，执行机构力指标和相互作用顺应指标。进化算法SPEA2用于通过更改关键机器人设计变量来同时优化这些目标。优化之后，获得了最佳的机器人设计，该设计在性能指标之间提供了最佳的权衡。进行了初步的概念验证实验，从而在沿三个轴操纵移动平台的同时，对机器人的运动轨迹进行了精确度测试。在机器人上实现了基于模糊的闭环反馈控制器。响应于正弦输入，观察到了极好的轨迹跟踪结果。进行了初步的概念验证实验，从而在沿三个轴操纵移动平台的同时，对机器人的运动轨迹进行了精确度测试。在机器人上实现了基于模糊的闭环反馈控制器。响应于正弦输入，观察到了极好的轨迹跟踪结果。进行了初步的概念验证实验，从而在沿三个轴操纵移动平台的同时，对机器人的运动轨迹进行了精确度测试。在机器人上实现了基于模糊的闭环反馈控制器。响应于正弦输入，观察到了极好的轨迹跟踪结果。