Title

Curved bone-drilling robot with high rigidity and large bending angle

Alternative Title

높은 굽힘 각도와 높은 강성을 가진 곡선형 뼈 드릴링 로봇

DGIST Authors

Hong, Jaesung ; Kim, Seunguk ; Jin, Sangrok

Advisor

홍재성

Co-Advisor(s)

Sangrok Jin

Issued Date

2020

Awarded Date

2020-02

Citation

Seunguk Kim. (2020). Curved bone-drilling robot with high rigidity and large bending angle. doi: 10.22677/Theses.200000285401

Type

Thesis

Description

물결 모양 노치 형태의 유연관절, 강성, 굽힘 각도, 스페이서의 두께, 노치의 높이

Table Of Contents

I. Introduction
1.1 Introduction to bone-drilling 1
1.2 Conventional curved bone-drilling robot 4

II. Proposed curved bone-drilling robot
2.1 Types of joint 16
2.2 Characteristic of notched compliant joint 18
2.3 Wave-shape notched compliant joint 29
2.3.1 Concept of design 29
2.3.2 Determination of design parameter 30
2.4 Actuation 35
2.4.1 Configuration 35
2.4.2 Mechanism and Kinematics 37

III. Experiment and results
3.1 Rigidity test 41
3.2 Maximum force test 43
3.3 Repeatability test 45

IV. Discussion and conclusion

URI

http://dgist.dcollection.net/common/orgView/200000285401
http://hdl.handle.net/20.500.11750/11959

DOI

10.22677/Theses.200000285401

Degree

Master

Department

Robotics Engineering

Publisher

DGIST

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