In order to solve the problem of weak stifness of the existing fully decoupled parallel mechanism, a new synthesis method of fully decoupled three translational (3T) parallel mechanisms (PMs) with closed-loop units an...In order to solve the problem of weak stifness of the existing fully decoupled parallel mechanism, a new synthesis method of fully decoupled three translational (3T) parallel mechanisms (PMs) with closed-loop units and high stifness is proposed based on screw theory. Firstly, a new criterion for the full decoupled of PMs is presented that the reciprocal product of the transmission wrench screw matrix and the output twist screw matrix of PMs is a diagonal matrix, and all elements on the main diagonal are nonzero constants. The forms of the transmission wrench screws are determined by the criterion. Secondly, the forms of the actuated and unactuated screws can be obtained according to their relationships with the transmission wrench screws. The basic decoupled limbs are generated by combination of the above actuated and unactuated screws. Finally, a closed-loop units construction method is investigated to apply the decoupled mechanisms in a better way on the high stifness occasion. The closed-loop units are constructed in the basic decoupled limbs to generate a high-stifness fully decoupled 3T PM. Kinematic and stifness analyses show that the Jacobian matrix is a diagonal matrix, and the stifness is obviously higher than that of the coupling mechanisms, which verifes the correctness of the proposed synthesis method. The mechanism synthesized by this method has a good application prospect in vehicle durability test platform.展开更多
背景:关于单个皮质骨轨迹螺钉的生物力学研究国内外已有多篇文章报道,但关于椎体、融合器、钉棒整个运动单元的生物力学研究,特别是关于皮质骨轨迹螺钉联合传统椎弓根螺钉(cortical bone trajectory combined with pedicle screw,CBTPS...背景:关于单个皮质骨轨迹螺钉的生物力学研究国内外已有多篇文章报道,但关于椎体、融合器、钉棒整个运动单元的生物力学研究,特别是关于皮质骨轨迹螺钉联合传统椎弓根螺钉(cortical bone trajectory combined with pedicle screw,CBTPS)固定方式对运动单元的应力分布情况及内固定装置稳定性的相关研究报道并不多。目的:归纳分析传统椎弓根螺钉固定与CBTPS固定骨质疏松椎体运动单元上的生物力学差异。方法:基于一位骨质疏松志愿者(骨密度T值<-0.25 SD)的CT数据,建立L3到骶椎椎体功能单元骨质疏松有限元模型。通过有效性验证后,建立传统椎弓根螺钉和CBTPS两种固定模型,比较两种模型在前屈、后伸、左右侧屈、左右旋转6种工况下内固定的应力及椎体运动单元活动情况;比较两种内固定方式下运动单元的应力分布情况及内固定装置的稳定性。结果与结论:(1)有限元验证结果显示,模型可较好地模拟骨质疏松患者腰椎的生理活动。(2)两组模型在屈曲、后伸状态下,内固定装置最大应力接近,但是CBTPS组内固定装置在侧屈与旋转状态下钉棒系统最大应力值要大于传统椎弓根螺钉组,其中侧屈时,CBTPS组较传统椎弓根螺钉组增加了11.5%,在旋转时,CBTPS组较传统椎弓根螺钉组增加了25.2%。CBTPS组cage的应力均大于传统椎弓根螺钉组,其中侧屈时,CBTPS组较传统椎弓根螺钉组增加了17%,在旋转时,CBTPS组较传统椎弓根螺钉组增加了15%。(3)两组模型在静载、前屈、后伸、侧屈、旋转状态下,椎间活动度相当,两种内固定装置能提供相似的稳定性。(4)总得来说,两种固定方式均可加强腰椎融合节段的固定强度,提供类似的节段稳定性,但CBTPS内固定方式可进一步加强融合节段的力学强度,提供更好的融合应力环境。展开更多
基金Supported by National Natural Science Foundation of China(Grant No.52275032)Key Project of Hebei Provincial Natural Science Foundation of China(Grant No.E2022203077)Hebei Provincial Key Research and Development Plan of China(Grant No.202230808010057).
文摘In order to solve the problem of weak stifness of the existing fully decoupled parallel mechanism, a new synthesis method of fully decoupled three translational (3T) parallel mechanisms (PMs) with closed-loop units and high stifness is proposed based on screw theory. Firstly, a new criterion for the full decoupled of PMs is presented that the reciprocal product of the transmission wrench screw matrix and the output twist screw matrix of PMs is a diagonal matrix, and all elements on the main diagonal are nonzero constants. The forms of the transmission wrench screws are determined by the criterion. Secondly, the forms of the actuated and unactuated screws can be obtained according to their relationships with the transmission wrench screws. The basic decoupled limbs are generated by combination of the above actuated and unactuated screws. Finally, a closed-loop units construction method is investigated to apply the decoupled mechanisms in a better way on the high stifness occasion. The closed-loop units are constructed in the basic decoupled limbs to generate a high-stifness fully decoupled 3T PM. Kinematic and stifness analyses show that the Jacobian matrix is a diagonal matrix, and the stifness is obviously higher than that of the coupling mechanisms, which verifes the correctness of the proposed synthesis method. The mechanism synthesized by this method has a good application prospect in vehicle durability test platform.
文摘背景:关于单个皮质骨轨迹螺钉的生物力学研究国内外已有多篇文章报道,但关于椎体、融合器、钉棒整个运动单元的生物力学研究,特别是关于皮质骨轨迹螺钉联合传统椎弓根螺钉(cortical bone trajectory combined with pedicle screw,CBTPS)固定方式对运动单元的应力分布情况及内固定装置稳定性的相关研究报道并不多。目的:归纳分析传统椎弓根螺钉固定与CBTPS固定骨质疏松椎体运动单元上的生物力学差异。方法:基于一位骨质疏松志愿者(骨密度T值<-0.25 SD)的CT数据,建立L3到骶椎椎体功能单元骨质疏松有限元模型。通过有效性验证后,建立传统椎弓根螺钉和CBTPS两种固定模型,比较两种模型在前屈、后伸、左右侧屈、左右旋转6种工况下内固定的应力及椎体运动单元活动情况;比较两种内固定方式下运动单元的应力分布情况及内固定装置的稳定性。结果与结论:(1)有限元验证结果显示,模型可较好地模拟骨质疏松患者腰椎的生理活动。(2)两组模型在屈曲、后伸状态下,内固定装置最大应力接近,但是CBTPS组内固定装置在侧屈与旋转状态下钉棒系统最大应力值要大于传统椎弓根螺钉组,其中侧屈时,CBTPS组较传统椎弓根螺钉组增加了11.5%,在旋转时,CBTPS组较传统椎弓根螺钉组增加了25.2%。CBTPS组cage的应力均大于传统椎弓根螺钉组,其中侧屈时,CBTPS组较传统椎弓根螺钉组增加了17%,在旋转时,CBTPS组较传统椎弓根螺钉组增加了15%。(3)两组模型在静载、前屈、后伸、侧屈、旋转状态下,椎间活动度相当,两种内固定装置能提供相似的稳定性。(4)总得来说,两种固定方式均可加强腰椎融合节段的固定强度,提供类似的节段稳定性,但CBTPS内固定方式可进一步加强融合节段的力学强度,提供更好的融合应力环境。
