基于微创外科手术机器人操作手的夹持灵活度研究  

On Clamping Dexterity of Minimally Invasive Surgical Robot Manipulator

作　　者：张立勋[1] 于凌涛[1] 赵继亮 夏振涛 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《机器人》2009年第3期197-203,共7页Robot

基　　金：国家博士后科学基金资助项目(20080430889);哈尔滨工程大学基础研究基金资助项目(002070260748)

摘　　要：为了反映外科手术机器人六自由度操作手的指尖在夹持点对物体的夹持能力,分析了夹持时指尖的姿态、夹持物的姿态及两者的关系.推导了指尖在夹持点对处于任意姿态的物体进行夹持时所需姿态的解析表达式,并借助姿态球给出了夹持灵活度的定义.研究了本机构工作空间中离散点的夹持灵活度,确定了指尖夹持的灵活空间,并通过SimMechanics进行了仿真验证.In order to show the clamping ability of the 6-DOF manipulator fingertip of minimally invasive surgical robot at the clamping point, the fingertip posture, the object gesture and the relations between them during clamping are analyzed. The analytic expression of the fingertip gesture ：is deduced when the fingertips clamp the object with random postures at a gripping point, and the clamping dexterity is defined with the pose sphere. Clamping dexterity of those discrete points in the workspace of the mechanism is studied, the clamping dexterity space of the fingertips is determined, and is verified by the simulation with SimMechanics.

关 键 词：微创外科 医疗机器人 6自由度操作手 夹持灵活度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]