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微创手术技术的迅速发展对手术器械的小体积、灵活性提出更高的要求。本文结合TiNi形状记忆合金(SMA)的应用设计出了一种新型微创手术腕式机构,它具有结构简单紧凑、灵活轻便、运动空间大、输出位置精度高等优点。本文简要地介绍了TiNi SMA的性质,描述了腕式机构的构型,对机构模型进行了力学仿真分析并建立了机构运动学方程,最后给出了机构的工作空间。
The rapid development of minimally invasive surgical techniques put forward higher requirements on the small size and flexibility of surgical instruments. In this paper, a novel minimally invasive surgical wrist mechanism is designed with the application of TiNi SMA. It has the advantages of simple and compact structure, flexible and lightweight, large moving space and high output position accuracy. This article briefly introduces the properties of TiNi SMA, describes the configuration of the wrist mechanism, mechanics simulation analysis of the mechanism model and the establishment of kinematic equations of the mechanism, and finally gives the working space of the mechanism.