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While in the current analyze, a brand new hybrid architecture is proposed for bone reduction surgical procedure. It can be described being a three-P其上安装有3-R RP平面机构PS tripod system. The kinematic and velocity designs of the entire mechanism is presented. The parasitic movement created because of the tripod system end effector rotation is likewise thought of. On account of its certain architectural arrangement, this parasitic motion is generated on only one axis on the tripod foundation. Also, the kinematic product of your planar mechanism is defined to offer a total compensation with the parasitic movement on both equally axes of the complete mechanism foundation.

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In the second action, the kinematic on the tripod must be expressed inside the reference frame of the entire system base. A further stage is made up in compensating the parasitic movement with the tripod.

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一个s a result, the above mentioned kinematic simulations exhibit that the proposed mechanism has an improved workspace which the normal Stewart platform. On addition, it really is capable of generating a much larger choice of longitudinal rotation in a deported linear posture (x，y）。因此，混合动力机制增强了能力，提供断裂面匹配而管家平台将在这方面遇到困难。这个问题可yabo亚博通过确定加入的管家机器人，将确定其工作空间内剩余的一个完整的轨迹准确的初始位置来解决。然而，这样的位置的存在不能保证，因为它的工作空间是有限的。此外，在这样的位置存在的情况下，与骨片段操纵器的准确且细腻登记是必需的。这证实了设计产生更大的工作空间和更适合运动的机制的重要性。当使用所提出的混合机构，登记方面将是更小的关注，因为它的工作空间显著改善。

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