Comparisons of Hybrid Mechanisms Based on Their Singularities for Bone Reduction Surgery: 3-PRP-3-RPS and 3-RPS-3-PRP

Annisa Pratiwi; Sinh Nguyen Phu; Terence Essomba; Latifah Nurahmi

doi:10.1007/978-3-030-77817-0_13

Comparisons of Hybrid Mechanisms Based on Their Singularities for Bone Reduction Surgery: 3-PRP-3-RPS and 3-RPS-3-PRP

Annisa Pratiwi, Sinh Nguyen Phu, Terence Essomba, Latifah Nurahmi

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

This paper presents comparisons of two hybrid mechanisms for bone reduction surgery based on the singularity analysis. These hybrid mechanisms are named Hybrid mechanisms I and II which are composed of two different parallel mechanisms, namely a planar mechanism and a 2T1R spatial mechanism. Both parallel mechanisms are mounted in series. Initially, transformation matrices of both parallel mechanisms are obtained. The products of both transformation matrices define the operation modes of Hybrid mechanisms I and II. Time derivative of transformation matrices are performed to derive Jacobian matrices. Jacobian matrices play the key role to derive singularity conditions. Eventually, singularity loci of Hybrid mechanisms I and II can be illustrated and compared.

Original language	English
Title of host publication	Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Human Body, Motion and Behavior - 12th International Conference, DHM 2021, Held as Part of the 23rd HCI International Conference, HCII 2021, Proceedings
Editors	Vincent G. Duffy
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	152-162
Number of pages	11
ISBN (Print)	9783030778163
DOIs	https://doi.org/10.1007/978-3-030-77817-0_13
State	Published - 2021
Event	12th International Conference on Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management, DHM 2021, Held as Part of the 23rd HCI International Conference, HCII 2021 - Virtual, Online Duration: 24 Jul 2021 → 29 Jul 2021

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	12777 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	12th International Conference on Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management, DHM 2021, Held as Part of the 23rd HCI International Conference, HCII 2021
City	Virtual, Online
Period	24/07/21 → 29/07/21

Keywords

Hybrid mechanisms
Operation modes
Parallel mechanisms
Singularity

Access to Document

10.1007/978-3-030-77817-0_13

Cite this

Pratiwi, A., Phu, S. N., Essomba, T., & Nurahmi, L. (2021). Comparisons of Hybrid Mechanisms Based on Their Singularities for Bone Reduction Surgery: 3-PRP-3-RPS and 3-RPS-3-PRP. In V. G. Duffy (Ed.), Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Human Body, Motion and Behavior - 12th International Conference, DHM 2021, Held as Part of the 23rd HCI International Conference, HCII 2021, Proceedings (pp. 152-162). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 12777 LNCS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-77817-0_13

Pratiwi, Annisa ; Phu, Sinh Nguyen ; Essomba, Terence et al. / Comparisons of Hybrid Mechanisms Based on Their Singularities for Bone Reduction Surgery : 3-PRP-3-RPS and 3-RPS-3-PRP. Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Human Body, Motion and Behavior - 12th International Conference, DHM 2021, Held as Part of the 23rd HCI International Conference, HCII 2021, Proceedings. editor / Vincent G. Duffy. Springer Science and Business Media Deutschland GmbH, 2021. pp. 152-162 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "This paper presents comparisons of two hybrid mechanisms for bone reduction surgery based on the singularity analysis. These hybrid mechanisms are named Hybrid mechanisms I and II which are composed of two different parallel mechanisms, namely a planar mechanism and a 2T1R spatial mechanism. Both parallel mechanisms are mounted in series. Initially, transformation matrices of both parallel mechanisms are obtained. The products of both transformation matrices define the operation modes of Hybrid mechanisms I and II. Time derivative of transformation matrices are performed to derive Jacobian matrices. Jacobian matrices play the key role to derive singularity conditions. Eventually, singularity loci of Hybrid mechanisms I and II can be illustrated and compared.",

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Pratiwi, A, Phu, SN, Essomba, T & Nurahmi, L 2021, Comparisons of Hybrid Mechanisms Based on Their Singularities for Bone Reduction Surgery: 3-PRP-3-RPS and 3-RPS-3-PRP. in VG Duffy (ed.), Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Human Body, Motion and Behavior - 12th International Conference, DHM 2021, Held as Part of the 23rd HCI International Conference, HCII 2021, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 12777 LNCS, Springer Science and Business Media Deutschland GmbH, pp. 152-162, 12th International Conference on Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management, DHM 2021, Held as Part of the 23rd HCI International Conference, HCII 2021, Virtual, Online, 24/07/21. https://doi.org/10.1007/978-3-030-77817-0_13

Comparisons of Hybrid Mechanisms Based on Their Singularities for Bone Reduction Surgery: 3-PRP-3-RPS and 3-RPS-3-PRP. / Pratiwi, Annisa; Phu, Sinh Nguyen; Essomba, Terence et al.
Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Human Body, Motion and Behavior - 12th International Conference, DHM 2021, Held as Part of the 23rd HCI International Conference, HCII 2021, Proceedings. ed. / Vincent G. Duffy. Springer Science and Business Media Deutschland GmbH, 2021. p. 152-162 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 12777 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Pratiwi A, Phu SN, Essomba T, Nurahmi L. Comparisons of Hybrid Mechanisms Based on Their Singularities for Bone Reduction Surgery: 3-PRP-3-RPS and 3-RPS-3-PRP. In Duffy VG, editor, Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Human Body, Motion and Behavior - 12th International Conference, DHM 2021, Held as Part of the 23rd HCI International Conference, HCII 2021, Proceedings. Springer Science and Business Media Deutschland GmbH. 2021. p. 152-162. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-77817-0_13