一种新型混联手术机器人的运动学分析  

Kinematic Analysis of A New Hybrid Surgical Robot

作　　者：刁燕[1] 陈章平[1] 姚林[1] 臧纪元[1] 罗华 

机构地区：[1]四川大学制造科学与工程学院,四川成都610065

出　　处：《四川大学学报（工程科学版）》2010年第4期214-218,共5页Journal of Sichuan University (Engineering Science Edition)

基　　金：四川省科技厅科技支撑计划资助项目(07GG008-026)

摘　　要：根据手术机器人手术操作空间和运动特性要求,提出一种具有冗余8自由度的新型混联手术机器人结构。该混联结构由SCARA(PRR)串联机构和一个2自由度并联转动机构相结合而成。通过建立机器人正向、逆向运动学数学模型,解决了该机器人逆运动学解析解的问题,得到了运动学特征方程;运用蒙特卡洛法求解出机器人的工作空间云点区域分布,得到了由随机点构成的手术工作空间。理论分析和实际仿真结果表明该机器人结构具有良好的运动特性,并满足实际手术动作的工作空间要求,为手术机器人的详细结构设计提供了可靠的理论依据。According to the manipulation space and kinematic characteristic requirements of surgery robot,a new hybrid robot structure with redundant 8 DOF was introduced. It was composed of SCARA（ PRR） serial part and a 2 DOF parallel rotation mechanism. Mathematical models of forward and inverse solutions were established to resolve the anti-kinematic analytical solution problem and the kinematic equations was obtained. Meanwhile,the workspace cloud regional distribution was worked out by the Monte Carlo Method to derive its surgical operation workspace enveloped by random points. Theoretical analysis and simulation results proved that the robot possesses an better kinematic characteristics and can meet the request of practical operation workspace.

关 键 词：手术机器人 混联结构 工作空间 运动学分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]