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Design and Analysis of a Parallel TKR Simulator for Prosthesis Design Evaluation

Daei Nejad, Fatemeh Sadat | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 47494 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Farahmand, Farzam; Durali, Mohammad
  7. Abstract:
  8. In this project a knee prostheses wear testing simulator based on a parallel mechanism for applying forces and torques, is designed. First according to ISO 14243 standard required degrees of freedom and design constraints are determined and also regarding simulator requirements some considerations in design are outlined. Considering all of these parameters, literature has been searched for proper parallel mechanism and because no suitable parallel mechanism, which is a 3 DoF 2T1R paralle mechanism with rotational degree about z axis, has been found; several new designs of proper mechanism have been presented. Scoring different mechanisms according to outcomed parameters from standard and design considerations, best mechanism for application in wear testing simulator has been determined. Then inverse kinematic and dynamic problem for these mechanisms has been solved to verify each mechanism’s score; that inverse kinematic and dynamic solutions are compatible with expected results from mechanisms’ scorings. Finally wear testing simulator detailed design is performed based on chosen parallel mechanism. For simulator detailed design, first forces ang torques of every member of mechanism has been calculated and then considering allowed stresses, each part’s sizes were determined
  9. Keywords:
  10. Parallel Mechanism ; Mechanism Design ; Total Knee Replacement (TKR) ; Simulators ; Wear Test

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