Singularity analysis of Stewart platform mechanisms within a medical context

In recent years, use of parallel robots have increased in applications requiring high precision, loading capacity, rigidity and high velocity. One of the important groups of parallel manipulators is the Stewart platform. This platform has a wide range of applications. For example, it can be used as aircraft simulator, machine tools, telescopes etc. Also it is suitable for use in orthopaedic surgery. Limited working space, the complex kinematic-kinetic solutions and singularities within the workspace of the robot are some of the major problems encountered. In this thesis work, Stewart platform involved in singular cases are investigated within a medical context. During the process, singularity sources of robotic structure evaluated as fixators, devices used for orthopaedic purposes, have been investigated by numerical/analytical and geometrical methods. Main problem discussed here, calculation of displacement, should be guaranteed at all positions of the fixator during the treatment. Singularity analysis of the robotic frame is essential for safe use. If a robot is in a singular configuration it may show unstable behaviour and this is undesirable in practice. To prevent this situation, which will adversely affect the treatment process, a software has been developed to test the situation by three different methods leading to the reliability of the set-up of the robotic frame as applied by orthopaedist. Inputs of this software, which are the parameters of fixator, are selected by orthopaedist and its outputs can be easily reviewed. A proactive approach is aimed to prevent possible mishaps with the results obtained and testing is carried out before treatment.