Publication detail

Some notes to the design and implementation of the device for cord implants tuning

BŘEZINA, T. ANDRŠ, O. HOUŠKA, P. BŘEZINA, L.

Original Title

Some notes to the design and implementation of the device for cord implants tuning

Czech Title

Návrh a implementace biomedicínského zařízení pro testování páteřních segmentů

English Title

Some notes to the design and implementation of the device for cord implants tuning

Type

conference paper

Language

en

Original Abstract

This contribution deals with a position control analysis of the biomechanical testing device based on the Stewart Platform. The constructed mechanism represents a six-degree of freedom positioning manipulator. Its closed kinematic chain and parallel linkage structure give it great rigidity and large load-to-weight ratio. That makes it suitable for testing of the backbone segments and hip joints. The mechanism constructed on FME BUT contains two plates (base and platform) which are connected with six linear mechanical actuators to the each other. The device control task is based on inverse position kinematics. A model of the mechanism inverse kinematics was built for the control purposes in MATLAB software. Finally the controller algorithm was designed and implemented into LabVIEW environment which is suitable for a real-time control.

Czech abstract

Tento příspěvek se zabývá analýzou možností řízení biomedicínského zařízení založeného na Stewartově platformě. Mechanismus představuje 6DOF manipulátor. Jeho paralelní kinematická struktura a uzavřený řetězec zlepšují jeho tuhost. Popisované zařízení je určeno pro testování páteřních segmentů a částí velkých kloubů. Pro potřeby řízení byl sestaven model v programu MATLAB. Konečný návrh řízení byl následovně proveden v prostředí LabVIEW, které je vhodné pro real-time řízení.

English abstract

This contribution deals with a position control analysis of the biomechanical testing device based on the Stewart Platform. The constructed mechanism represents a six-degree of freedom positioning manipulator. Its closed kinematic chain and parallel linkage structure give it great rigidity and large load-to-weight ratio. That makes it suitable for testing of the backbone segments and hip joints. The mechanism constructed on FME BUT contains two plates (base and platform) which are connected with six linear mechanical actuators to the each other. The device control task is based on inverse position kinematics. A model of the mechanism inverse kinematics was built for the control purposes in MATLAB software. Finally the controller algorithm was designed and implemented into LabVIEW environment which is suitable for a real-time control.

Keywords

design and implementation of the device for cord implants tuning

RIV year

2009

Released

01.11.2009

Publisher

Springer-Verlag Berlin Heidelberg

Location

Berlin

ISBN

978-3-642-05021-3

Book

Recent advances in Mechatronics 2008 - 2009

Edition number

1

Pages from

335

Pages to

340

Pages count

6

BibTex


@inproceedings{BUT33657,
  author="Tomáš {Březina} and Ondřej {Andrš} and Pavel {Houška} and Lukáš {Březina}",
  title="Some notes to the design and implementation of the device for cord implants tuning",
  annote="This contribution deals with a position control analysis of the biomechanical testing device based on the Stewart Platform. The constructed mechanism represents a six-degree of freedom positioning manipulator. Its closed kinematic chain and parallel linkage structure give it great rigidity and large load-to-weight ratio. That makes it suitable for testing of the backbone segments and hip joints. The mechanism constructed on FME BUT contains two plates (base and platform) which are connected with six linear mechanical actuators to the each other. The device control task is based on inverse position kinematics. A model of the mechanism inverse kinematics was built for the control purposes in MATLAB software. Finally the controller algorithm was designed and implemented into LabVIEW environment which is suitable for a real-time control.",
  address="Springer-Verlag Berlin Heidelberg",
  booktitle="Recent advances in Mechatronics 2008 - 2009",
  chapter="33657",
  howpublished="print",
  institution="Springer-Verlag Berlin Heidelberg",
  year="2009",
  month="november",
  pages="335--340",
  publisher="Springer-Verlag Berlin Heidelberg",
  type="conference paper"
}