一种新型医疗机器人运动学及灵活性分析

从临床应用的角度出发,分析了微创神经外科机器人的结构特点.建立了机器人空间运动学模型,确定了该机器人逆解具有解析解,通过仿真验证了逆解的正确性.分析了机器人手腕的灵活性,用姿态球的概念定义了五自由度机器人手腕灵活性,给出了手术矢量工具姿态球的边界表达式,提出了手腕灵活性的分析方法,给出了机器人的灵活区域分布.掌握运动学和灵活性分析方法,可以为结构设计提供可靠的依据,为后续机器人控制功能的实现奠定基础.

Analysis of kinematics and dexterity for new surgery robot

Based on the requirement of clinical application, the structure characteristic of minimally invasive neurosurgery assisted robot was analyzed. Space kinematics model of robot was founded. The fact that reverse solution of the robot has analytic solution was confirmed. The correctness of reverse solution was validated via VC simulation program. Simultaneously some key problem in founding space kinematics model of robot was argued. Three methods of dexterity analysis were presented, and the freedom of robot dexterity was defined, the dexterity of robot wrist was analyzed. With concept of posture sphere, wrist dexterity definition of the five degree-of-freedom robot was proposed ; boundary expression of vector tool posture sphere was presented. Analysis method of wrist dexterity was proposed, the distribution of robot dexterity area was determined and provided by MATLAB simulation analysis.With the help of kinematics and dexterity analysis, reliable reference can be supplied for structure design, and the foundation of realization of robot control function would be established.