Workspace and Accuracy Analysis on a Novel 6‑UCU Bone‑attached Parallel Manipulator

With the increasingly more extensive application of the medical surgical robot in the clinic,higher requirements have been put forward for medical robots.The bone-attached robot,a popular orthopedic robot in recent years,has a tendency of miniaturization and refinement.Thus,a bone-attached parallel manipulator(PM)based on 6-UCU(universalcylindrical-universal)configuration is proposed,which is characterized by small volume,compact structure,high precision and six-dimensional force feedback.To optimize the structure and make it more compact,the workspace of the 6-UCU PM is analyzed based on the analysis of three kinds of constraint,and workspace model is established through spherical coordinate search method.This study also analyzes the influence of structural parameters on workspace,which may contribute to improving the efficiency of design and ensuring small-sized robots possess relatively large workspace.Moreover,to improve the motion accuracy,an error modeling method is developed based on the structure of 6-UCU PMs.According to this established error model,the output pose error curves are drawn using MATLAB software when the structure parameters change,and the influence of the structure and pose parameters change on the output pose error of PMs is analyzed.The proposed research provides the instruction to design and analysis of small PMs such as bone-attached robots.

Experimental and Numerical Analysis of the Influence ofMicrochannel Size and Structure on Boiling Heat Transfer

Computational fluid dynamics was used and a numerical simulation analysis of boiling heat transfer in microchannels with three depths and three cross-sectional profiles was conducted.The heat transfer coefficient and bubble generation process of three microchannel structures with a width of 80μm and a depth of 40,60,and 80μm were compared during the boiling process,and the factors influencing bubble generation were studied.A visual test bench was built,and test substrates of different sizes were prepared using a micro-nano laser.During the test,the behavior characteristics of the bubbles on the boiling surface and the temperature change of the heated wall were collected with a high-speed camera and a temperature sensor.It was found that the microchannel with a depth of 80μm had the largest heat transfer coefficient and shortest bubble growth period,the rectangular channel had a larger peak heat transfer coefficient and a lower frequency of bubble occurrence,while the V-shaped channel had the shortest growth period,i.e.,the highest frequency of bubble occurrence,but its heat transfer coefficient was smaller than that of the rectangular channel.