Publication detail
Some notes to the design and implementation of the device for cord implants tuning
BŘEZINA, T. ANDRŠ, O. HOUŠKA, P. BŘEZINA, L.
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 in Czech
návrh a implementace zařízení pro biomedicínské aplikace
Keywords in English
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–to
335–340
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",
booktitle="Recent advances in Mechatronics 2008 - 2009",
year="2009",
month="November",
pages="335--340",
publisher="Springer-Verlag Berlin Heidelberg",
address="Berlin",
isbn="978-3-642-05021-3"
}