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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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 languageEnglish
Title of host publicationDigital 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
EditorsVincent G. Duffy
PublisherSpringer Science and Business Media Deutschland GmbH
Pages152-162
Number of pages11
ISBN (Print)9783030778163
DOIs
StatePublished - 2021
Event12th 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 202129 Jul 2021

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume12777 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference12th 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
CityVirtual, Online
Period24/07/2129/07/21

Keywords

  • Hybrid mechanisms
  • Operation modes
  • Parallel mechanisms
  • Singularity

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