论文部分内容阅读
针对腹腔微创手术机器人系统的从手机械臂在手术时须要进行定点运动的要求,设计了一种新型从手机械臂远心机构,实现在没有电磁离合器的条件下远心机构的被动姿态调整;建立远心机构的动力学模型,求解出远心机构的动力学方程,计算出被动调整过程中为平衡远心机构电机所需补偿的力矩;然后以虚拟样机软件为工具,使用三维设计软件Pro/E和机械动力学分析软件ADAMS建立了远心机构的虚拟样机仿真模型,通过仿真分析验证了动力学模型和动力学方程的正确性.
Aimed at the requirement of fixed-point motion from the hand manipulator during the operation of the minimally invasive surgical robotic system of the abdominal cavity, a new type of slave manipulator arm telecentric mechanism is designed to realize the passive attitude adjustment of the telecentric mechanism under the condition of no electromagnetic clutch The dynamic model of the telecentric mechanism is established and the dynamics equation of the telecentric mechanism is solved to calculate the moment needed to balance the compensation of the telecentric mechanism motor in the process of passive adjustment. Then, using the virtual prototyping software as the tool and the three-dimensional design software Pro / E and ADAMS are used to establish the virtual prototyping simulation model of telecentric mechanism. The simulation results verify the correctness of the dynamic model and kinetic equation.