Team Members:Jonathan Coulter

Liang DongChris Holmes

Haroon Osmanzada

Faculty Advisors:Dr. Sebastian Bawab

Dr. Stacie Ringleb

Naval Medical Center Advisor:Dr. Marlene DeMaio

Focus of the Research◦ Evaluate several surgical techniques for repairing

the anterior and posterior cruciate ligaments◦ Evaluate the effectiveness of total knee

arthroplasty

Joints that are composed of bones, muscles, ligaments, capsules, and articulate cartilage

Savio Woo, et al. – Robotic/UFS System◦ Shoulder and Knee ◦ Repeatability of motion and forces (6 DOF)◦ Completely fix femur

Lawrence D. Noble, et al. – General Purpose Musculoskeletal Simulator◦ Walking, Running, and Jumping◦ 6 DOF

3 Degrees of Freedom

Positional Repeatability◦ Stainless Steel Bellow Coupler

Loading from both Femur and Tibia

Position control

Force Control In Progress

• CQUAD: Top u-channels, bottom u-channels, back L-angles, cantilever beam base plate, and screw drive case.

• CBAR: Cantilever beam, side rails of the screw drive, and middle screw.

• RBE2: All the joint areas between plates, the screw drive case to the back angles, the screw drive case to the side rails, and cantilever beam base plate to rods of the screw drive case.

Hand Calculations: Cantilever Beam

EI

FLy

LxEI

Fxy

LxFxM

FLM

FVR

3

)3(6

)()(

3

max

2

Hand Calculations: Cantilever Beam

12

tb

12

bI

12

bhI

44

3

x

Square Tube is Aluminum 6061 (T6)b = 3 in.L = 24 in. t = 1/4 in.

3 in by 3 in by 1/4 in Square TubeMoment

Calculations

ftLBFM

inLBFininLBF

inLBFM

wLFLM

inL

LBFF

inLBFinLBFw

82.1150

9.138092

12/1376.0121150

2

12

1150

/1376.04133/09575.0

2

2

223

Hand Calculations: Cantilever Beam

Stress Analysis

35.37.10440

1035

7.10440984.1

5.19.13809

3

max

4

psi

psigthYieldStrenFS

psiin

ininLBF

I

Mcmzx

Deflection Calculations

iny

inininMpsi

inlbfLx

EI

Fxy

083468.

))24(312()984.1)(10(6

)12(1150)3(

6 4

22

Hand Calculations: Weld

Hand Calculations: Top Channel

Hand Calculations: Clevis Pin

Comparison to Patran

Apparatus in Motion