论文部分内容阅读
在分析微创手术机器人构型基础上,提出了采用中空走线的被动关节及新型的远心机构的机械臂设计方案.在此基础上,开展了腹腔微创手术机械臂被动关节及远心机构的机械结构设计,并基于D-H法进行运动学分析.以机械臂可操作度作为优化目标,对其杆件尺寸参数进行优化,以提高机械臂的整体灵活性.最后,对设计的机构进行仿真分析,结果表明:所设计的微创手术机器人结构在手术过程中具有较好的稳定性和灵活性,器械定位效果理想,满足临床需求.
Based on the analysis of the configuration of minimally invasive robotic manipulator, the design of the manipulator with hollow alignment and the new telecenter mechanism is proposed. On the basis of this, the passive joints and telecentric Mechanical design of the mechanism and kinematics analysis based on DH method.Optimized by the manipulability of the manipulator, the rod size parameters are optimized to improve the overall flexibility of the manipulator.Finally, Simulation results show that the designed minimally invasive robotic manipulator has good stability and flexibility during operation, and the device positioning effect is satisfactory and meets the clinical needs.