Comparative Analysis of Cutting Forces, Torques, and Vibration in Drilling of Bovine, Porcine, and Artificial Femur Bone with Considerations for Robot Effector Stiffness

Figure 8

Typical data for drilling at a spindle speed of 1000 rev/min to 1500 rev/min for force and torque for bovine, porcine, and artificial femur, respectively. (a) Force at 1500 rev/min vs. depth. (b) Force at 1500 rev/min vs. depth. (c) Torque at 1000 rpm vs. depth. (d) Torque at 1500 rev/min vs. depth.

(a)

(b)

(c)

(d)