Grinding Trajectory Planning Strategy of Bone Robot based on Archimedes Curve

The current robots used in epiphyseal plate cutting are primarily used for passive positioning, which means they cannot achieve autonomous positioning of the robot for grinding. Furthermore, because they only rely on the doctor's hand-eye coordination to detect the boundary of the bone bridge, the intraoperative real-time grinding accuracy is severely lacking. The grinding trajectory planning strategy of bone robot based on Archimedes curve is suggested as a solution to this issue. The trajectory planning of the end of the bone grinding robot is done utilizing the quintic polynomial interpolation in conjunction with the Archimedes curve principle, taking into account a real epiphyseal plate grinding scenario. Comparing the experiments with sawtooth trajectory planning, it is discovered that the generated trajectory motion parameters reach the target point more smoothly for the method proposed in this paper, and the effective interval reduction of joint angle is about 0.323 rad, the effective interval reduction of joint velocity is about 0.176 rad/s, and the effective interval reduction of joint acceleration is about 0.401 rad/s ² , This improves the dynamic performance of the robot.