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机器人应用于腹腔、胸腔等外科手术中,可以提高手术质量,降低医生的劳动强度,减少病人痛苦。文中设计了一种辅助微刨外科手术机器人,该机器人采用模块化设计方法降低机器人结构的复杂程度,缩短了设计周期;采用被动式手腕关节结构使机器人更加符合实际需求。运用几何法求得了机器人运动学逆解,通过灵活工作空间分析表明该机器人具有足够大的灵活空间以满足实际工作需求。最后通过ADAMS运动学仿真,证实该机器人可以很好地完成所规定的任务。
Robot applied to the abdominal cavity, chest and other surgical operations, can improve the quality of surgery, reduce the labor intensity of doctors and reduce patient pain. In this paper, an assistant micro-shaver surgical robot is designed. The robot adopts a modular design method to reduce the complexity of the robot structure and shorten the design cycle. The passive wrist joint structure makes the robot more in line with the actual needs. The geometrical method was used to get the inverse kinematics of the robot. The analysis of the flexible work space shows that the robot has sufficient flexibility to meet the actual work requirements. Finally, through ADAMS kinematics simulation, it is proved that the robot can accomplish the task well.