Etude d'une nouvelle prothese du coude basee sur un manipulateur parallele spherique a degres de liberte

Abstract

Ce memoire presente l'etude d'une nouvelle prothese du coude basee sur un manipulateur parallele spherique a deux degres de liberte. L'emploi de ce type de mecanisme devrait permettre plus de rigidite et de stabilite a l'articulation. Afin de s'assurer que le manipulateur envisage respecte le cahier des charges de l'articulation du coude, un outil de design a ete developpe a partire de la representation de l'espace atteignable du manipulateur et de son etude de dexterite. Cet outil permet d'optimiser l'architecture du mecanisme en fonction des specifications de l'application. Le design preliminaire de la prothese presente dans ce memoire est base sur les contraintes mecaniques du manipulateur et en respect de l'anatomie de l'articulation du coude.

Alternate abstract:

You are viewing a machine translation of selected content from our databases. This functionality is provided solely for your convenience and is in no way intended to replace human translation. Show full disclaimer

Neither ProQuest nor its licensors make any representations or warranties with respect to the translations. The translations are automatically generated "AS IS" and "AS AVAILABLE" and are not retained in our systems. PROQUEST AND ITS LICENSORS SPECIFICALLY DISCLAIM ANY AND ALL EXPRESS OR IMPLIED WARRANTIES, INCLUDING WITHOUT LIMITATION, ANY WARRANTIES FOR AVAILABILITY, ACCURACY, TIMELINESS, COMPLETENESS, NON-INFRINGMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. Your use of the translations is subject to all use restrictions contained in your Electronic Products License Agreement and by using the translation functionality you agree to forgo any and all claims against ProQuest or its licensors for your use of the translation functionality and any output derived there from. Hide full disclaimer

This thesis presents the study of a new elbow prosthesis based on a spherical parallel manipulator with two degrees of freedom. The use of this type of mechanism should allow more rigidity and stability to the joint. To ensure that the planned manipulator respects the specifications of the elbow joint, a design tool was developed based on the representation of the reachable space of the manipulator and its study of dexterity. This tool makes it possible to optimize the architecture of the mechanism according to the specifications of the application. The preliminary design of the prosthesis presented in this thesis is based on the mechanical constraints of the manipulator and in respect of the anatomy of the elbow joint.