面向个性化微创手术的并联机器人的精度与可重复性
Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery
AI总结：
该研究针对个性化微创手术用并联机器人，提出采用运动追踪系统与高精度测量臂分别测量其精度和可重复性的方法，通过轨迹对比和点位重复移动实验完成测定，为手术机器人的性能验证提供了实验方案。
摘要：
本文介绍了为外科手术应用开发的并联机器人实验模型的精度与可重复性测量方法。实验装置采用运动追踪系统（用于精度测量）和高精度位置测量臂（用于可重复性测量）。精度通过将实验测量得到的轨迹数据，与由并联机器人系统运动学模型定义的基准轨迹进行对比获得。可重复性则通过让机器人平台在预定义点位间（重复）移动，经实验测定。
英文摘要：
The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a high precision measuring arm for position (for repeatability). The accuracy was obtained by comparing the trajectory data from the experimental measurement with a baseline trajectory defined with the kinematic models of the parallel robotic system. The repeatability was experi-mentally determined by moving (repeatedly) the robot platform in predefined points.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
