上海交通大学 机械与动力工程学院， 上海 200240
收稿日期:2019-01-08出版日期:2020-10-28发布日期:2020-11-09通讯作者:王石刚，男，教授，博士生导师，电话(Tel.):021-34204496；Email: wangshigang@sjtu.edu.cn.作者简介:傅超(1995-)，男，江西省丰城市人，硕士生，研究方向为机电设计.基金资助:国家重点研发计划资助项目(2017YFB1302901)Modelling of Spatial Pose of Ortho-SUV Frame and Mathematical Solution
FU Chao,FAN Jiacheng,WANG Shigang,LIANG QinghuaSchool of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
Received:2019-01-08Online:2020-10-28Published:2020-11-09摘要/Abstract
摘要： Ortho-SUV支架作为一种新型变铰点并联机构能灵活便捷地治疗骨折和肢体畸形.为了达到矫形治疗目的，Ortho-SUV支架的空间位姿需要针对不同患者的骨折或畸形情况进行调整，因此需要对它进行运动学分析.基于其特殊的结构，以6个空间位姿参数描述其位姿，建立了Ortho-SUV支架的空间位姿数学模型，将求解非线性高耦合三角函数方程组转化为求解不含三角函数的普通非线性代数方程组，从而给出了此空间位姿模型正解与反解有效快捷的求解方法.通过算例验算及胫骨骨折矫形模拟实验证明了模型及求解方法的正确性和准确性，为Ortho-SUV支架用于矫形治疗提供了理论依据.
关键词: Ortho-SUV支架, 并联机构, 正解与反解, 畸形矫正
Abstract: The Ortho-SUV frame, as an innovative parallel mechanism with variable hinge joints, can flexibly and conveniently treat limb deformities and fractures. In order to achieve orthopedic treatment, the spatial pose of the Ortho-SUV frame needs to be adjusted according to the fracture or deformity of different patients. Its kinematic analysis is therefore required. The pose of the Ortho-SUV frame was described by six spatial pose parameters, and its mathematical model was established. Based on its special structure, the nonlinear and high-coupled equations with trigonometric functions were transformed into ordinary non-linear equations without trigonometric functions, and the efficient and fast solution methods for the forward and inverse solutions of the spatial pose model were given. The correctness and the accuracy of the model were proved by checking calculation and simulated orthopedic experiment of tibial fracture, which provides a theoretical basis for the Ortho-SUV frame to be used in orthopedic treatment.
Key words: Ortho-SUV frame, parallel mechanism, forward and inverse solution, deformity correction
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