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

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Joint</td><td class="align_center">Components</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">1</td><td class="align_center">Servo motor<svg height="6.27169pt" id="M40" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -6.22188 18.3548 6.27169" width="18.3548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M567 230V280H69V230H567Z"></path></g><g transform="matrix(.013,0,0,-0.013,5.776,0)"><path d="M901 255C861 290 790 361 716 442L694 427L796 280H69V230H796L694 83L716 68C790 149 861 220 901 255Z"></path></g></svg>gear shaft<svg height="6.27169pt" id="M41" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -6.22188 18.3548 6.27169" width="18.3548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M567 230V280H69V230H567Z"></path></g><g transform="matrix(.013,0,0,-0.013,5.776,0)"><path d="M901 255C861 290 790 361 716 442L694 427L796 280H69V230H796L694 83L716 68C790 149 861 220 901 255Z"></path></g></svg>harmonic reducer</td></tr><tr><td class="align_left">2</td><td class="align_center">Servo motor<svg height="6.27169pt" id="M42" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -6.22188 18.3548 6.27169" width="18.3548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M567 230V280H69V230H567Z"></path></g><g transform="matrix(.013,0,0,-0.013,5.776,0)"><path d="M901 255C861 290 790 361 716 442L694 427L796 280H69V230H796L694 83L716 68C790 149 861 220 901 255Z"></path></g></svg>gear shaft<svg height="6.27169pt" id="M43" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -6.22188 18.3548 6.27169" width="18.3548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M567 230V280H69V230H567Z"></path></g><g transform="matrix(.013,0,0,-0.013,5.776,0)"><path d="M901 255C861 290 790 361 716 442L694 427L796 280H69V230H796L694 83L716 68C790 149 861 220 901 255Z"></path></g></svg>harmonic reducer</td></tr><tr><td class="align_left">3</td><td class="align_center">Servo motor<svg height="6.27169pt" id="M44" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -6.22188 18.3548 6.27169" width="18.3548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M567 230V280H69V230H567Z"></path></g><g transform="matrix(.013,0,0,-0.013,5.776,0)"><path d="M901 255C861 290 790 361 716 442L694 427L796 280H69V230H796L694 83L716 68C790 149 861 220 901 255Z"></path></g></svg>gear shaft<svg height="6.27169pt" id="M45" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -6.22188 18.3548 6.27169" width="18.3548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M567 230V280H69V230H567Z"></path></g><g transform="matrix(.013,0,0,-0.013,5.776,0)"><path d="M901 255C861 290 790 361 716 442L694 427L796 280H69V230H796L694 83L716 68C790 149 861 220 901 255Z"></path></g></svg>harmonic reducer</td></tr><tr><td class="align_left">4</td><td class="align_center">Servo motor<svg height="6.27169pt" id="M46" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -6.22188 18.3548 6.27169" width="18.3548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M567 230V280H69V230H567Z"></path></g><g transform="matrix(.013,0,0,-0.013,5.776,0)"><path d="M901 255C861 290 790 361 716 442L694 427L796 280H69V230H796L694 83L716 68C790 149 861 220 901 255Z"></path></g></svg>gear shaft<svg height="6.27169pt" id="M47" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -6.22188 18.3548 6.27169" width="18.3548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M567 230V280H69V230H567Z"></path></g><g transform="matrix(.013,0,0,-0.013,5.776,0)"><path d="M901 255C861 290 790 361 716 442L694 427L796 280H69V230H796L694 83L716 68C790 149 861 220 901 255Z"></path></g></svg>harmonic reducer</td></tr><tr><td class="align_left">5</td><td class="align_center">Servo motor<svg height="6.27169pt" id="M48" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -6.22188 18.3548 6.27169" width="18.3548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M567 230V280H69V230H567Z"></path></g><g transform="matrix(.013,0,0,-0.013,5.776,0)"><path d="M901 255C861 290 790 361 716 442L694 427L796 280H69V230H796L694 83L716 68C790 149 861 220 901 255Z"></path></g></svg>gear shaft<svg height="6.27169pt" id="M49" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -6.22188 18.3548 6.27169" width="18.3548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M567 230V280H69V230H567Z"></path></g><g transform="matrix(.013,0,0,-0.013,5.776,0)"><path d="M901 255C861 290 790 361 716 442L694 427L796 280H69V230H796L694 83L716 68C790 149 861 220 901 255Z"></path></g></svg>conveyor gear shaft<svg height="6.27169pt" id="M50" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -6.22188 18.3548 6.27169" width="18.3548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M567 230V280H69V230H567Z"></path></g><g transform="matrix(.013,0,0,-0.013,5.776,0)"><path d="M901 255C861 290 790 361 716 442L694 427L796 280H69V230H796L694 83L716 68C790 149 861 220 901 255Z"></path></g></svg>harmonic reducer</td></tr><tr><td class="align_left">6</td><td class="align_center">Servo motor<svg height="6.27169pt" id="M51" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -6.22188 18.3548 6.27169" width="18.3548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M567 230V280H69V230H567Z"></path></g><g transform="matrix(.013,0,0,-0.013,5.776,0)"><path d="M901 255C861 290 790 361 716 442L694 427L796 280H69V230H796L694 83L716 68C790 149 861 220 901 255Z"></path></g></svg>gear shaft<svg height="6.27169pt" id="M52" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -6.22188 18.3548 6.27169" width="18.3548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M567 230V280H69V230H567Z"></path></g><g transform="matrix(.013,0,0,-0.013,5.776,0)"><path d="M901 255C861 290 790 361 716 442L694 427L796 280H69V230H796L694 83L716 68C790 149 861 220 901 255Z"></path></g></svg>conveyor gear shaft<svg height="6.27169pt" id="M53" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -6.22188 18.3548 6.27169" width="18.3548pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M567 230V280H69V230H567Z"></path></g><g transform="matrix(.013,0,0,-0.013,5.776,0)"><path d="M901 255C861 290 790 361 716 442L694 427L796 280H69V230H796L694 83L716 68C790 149 861 220 901 255Z"></path></g></svg>harmonic reducer</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Component parts of each joint of 6dof Hans Robot.</div>

Journal of Healthcare Engineering

tab4

Table 4

Table 4: Comparative Analysis of Cutting Forces, Torques, and Vibration in Drilling of Bovine, Porcine, and Artificial Femur Bone with Considerations for Robot Effector Stiffness 

Table 4 | Comparative Analysis of Cutting Forces, Torques, and Vibration in Drilling of Bovine, Porcine, and Artificial Femur Bone with Considerations for Robot Effector Stiffness 