surgical positioning robot for inserting bone screw

    planning to build robot for inserting screw into bone
    looking for some thing like


    H-820 6-Axis Positioner with Controller
    Hexapod Platforms and Systems
    Parallel-Kinematic Machines of Six Motion Axe
    from PI Germany


    Is there any other cheaper alternative to start the research



    6- Axis Positioner with Controller
    COST- EFFICIENT HEXAPOD
    Standard- class 6- axis positioning system
    Parallel- kinematic design for six degrees of freedom making it significantly more compact and stiff than serialkinematic
    systems, higher dynamic range, no moved cables: Higher reliability, reduced friction
    Direct drive with brushless DC motors (BLDC)
    Indirect measuring principle
    Rotary encoder on motor shaft
    Powerful digital controller, open software architecture
    User- defined, stable pivot point, software- selectable. Positions commanded in Cartesian coordinates. Macro
    programming. Open source LabVIEW driver set. Work space simulation software. Optional interface for PLC
    control
    Fields of Application
    Research and industry. For life science, biotechnology, automation, micromachining
    Specifications
    H-820
    Six degrees of freedom, travel ranges to 100
    mm / 60°
    Load capacity to 20 kg
    Velocity under full load to 20 mm/ s
    Repeatability up to ±1 μm
    MTBF 20,000 h
    Works in any orientation
    Rapid response
    Sophisticated controller using vector algorithms,
    virtual pivot point
    Extensive software support
    © Physik Instrumente (PI) GmbH und Co. KG 2014. Subject to change without notice.
    Latest releases available at www.pi.ws
    WWW.PI.WS
    Page 2 of 4 29.01.2015 10:44
    Specifications
    H-820.D12 Unit Tolerance
    Active axes X, Y, Z, θX, θY, θZ
    Motion and positioning
    Travel range* X, Y ±50 mm
    Travel range* Z ±25 mm
    Travel range* θX, θY ±15 °
    Travel range* θZ ±30 °
    Actuator drive Torque motor, brushless (BLDC)
    Single- actuator design resolution 0.2 μm typ.
    Min. incremental motion X, Y, Z 10 μm typ.
    Min. incremental motion θX, θY, θZ 25 μrad typ.
    Repeatability X, Y ±2 μm typ.
    Repeatability Z ±1 μm typ.
    Repeatability θX, θY ±15 μrad typ.
    Repeatability θZ ±30 μrad typ.
    Backlash X, Y 30 μm typ.
    Backlash Z 10 μm typ.
    Backlash θX, θY 100 μrad typ.
    Backlash θZ 300 μrad typ.
    Max. velocity X, Y, Z 20 mm/ s
    Max. velocity θX, θY, θZ 200 mrad/ s
    Mechanical properties
    Load (base plate horizontal) 20 kg max.
    Load (base plate in any orientation) 10 kg max.
    Holding force (base plate horizontal) 200 N max.
    Holding force (base plate in any orientation) 100 N max.
    Miscellaneous
    Operating temperature range 0 to +50 °C
    Material Aluminum
    Mass 15 kg ±5 %
    Cable length 3 m ±10 mm
    Recommended controller C-887.21, included in delivery
    Operating voltage 100 to 240 VAC, 50/60 Hz
    Technical data specified at 20 ±3 °C.
    Ask about custom designs!
    * The travel ranges of the individual coordinates (X, Y, Z, θX, θY, θZ) are interdependent. The data for each axis in this table shows its maximum
    travel, where all other axes are at their zero positions. If the other linear or rotational coordinates are not zero, the available travel may be less.
    Order Information
    Mechanics with controller
    H-820.D12
    Hexapod Microrobot, Basic Version, 20 mm/ s, 20 kg Load, Cable Set 3 m, with 6- D Hexapod Controller, TCP/ IP and RS-232 Interface, Bench-
    Top Device
    Hexapod systems with fieldbus interface
    H-820.D31
    Hexapod Microrobot, Basic Version, 20 mm/ s, 20 kg Load, Cable Set 3 m, with 6- D Hexapod Controller, EtherCAT® Interface
    Ask about custom designs!
    Controllers / Drivers / Amplifiers
    C-887 Controller for Hexapod Positioning Systems
    © Physik Instrumente (PI) GmbH und Co. KG 2014. Subject to change without notice.
    Latest releases available at www.pi.ws
    WWW.PI.WS
    Page 3 of 4 29.01.2015 10:44
    Related Products
    H-824 6- Axis Hexapod
    H-840 6- Axis Hexapod
    H-850 6- Axis Hexapod
    Technology
    Hexapods – Parallel- Kinematics Positioning Systems | Hexapod platforms are used for precision positioning and
    alignment of loads in all six degrees of freedom, three linear axes, and three rotational axes. Learn more ...
    © Physik Instrumente (PI) GmbH und Co. KG 2014. Subject to change without notice.
    Latest releases available at www.pi.ws
    WWW.PI.WS
    Page 4 of 4 29.01.2015 10:44
    Drawings / Images
    H-820.D12,
    dimensions in mm
    © Physik Instrumente (PI) GmbH und Co. KG 2014. Subject to change without notice.
    Latest releases available at www.pi.ws
    WWW.PI.WS

    Let's go back to first principles. What, exactly, are you trying to accomplish? What are your requirements? Specifically, what are your requirements for this stage of the research, regarding:
    Price?
    Payload?
    Range of Motion?
    Strength (that is, how much torque and/or force will this robot have to apply, above and beyond what it uses to carry its payload?)
    Operating conditions?
    Power source?
    Programming language/toolchain? This is, how complex will this programming be, and what tool chain do you expect to use to create said programs? What programming languages are you already capable of supporting?
    Interfacing? What other hardware will this robot have to communicate/coordinate with? Using what means?
    Feedback? Will you be using digital, analog, polled, realtime, etc? How mission-critical will this interfacing be?


    A 6-axis Parallel Kinematic Machine (PKI) has a great deal of accuracy and strength, but at the cost of reach, felxibility, and range of motion. PKIs also have more complex kinematic models, which by extension can often mean more expensive and harder-to-use controllers. A PKI might not be necessary for what you are trying to accomplish. Or, it might be overkill for the initial proof-of-concept stage of your research.


    It's also going to be harder to find experienced help with most PKIs, simply because they're rare, compared to regular "articulated" robot arms, and hence the pool of experienced users is smaller. I can only speak to PKIs very generally, having only used a few quite briefly in my career.

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