冗余度微创手术机器人的速度加速度分析  

Velocity-acceleration Analysis of a Minimally Invasive Surgical Robot with Redundant Degree of Freedom

作　　者：陈章平[1] 刁燕[1] 罗华 徐建柱[1] 

机构地区：[1]四川大学制造科学与工程学院,成都610065

出　　处：《机械科学与技术》2011年第4期548-551,共4页Mechanical Science and Technology for Aerospace Engineering

基　　金：四川省科技厅科技支撑计划资助(07GG008-026)

摘　　要：为满足微创手术对机器人提出的高平稳性要求,机器人的速度加速度应平滑无突变。考虑球关节结构紧凑的特点,设计出具有冗余自由度的微创手术机器人。根据速度雅克比矩阵进行机器人的正速度分析;基于权重分配原理,运用Lagrange乘子法实现具有冗余自由度机器人的逆速度分析,找到手术工具末端速度与各关节速度的函数关系;通过对速度求导得到各关节的加速度。在Matlab软件中建立机器人物理模型,将速度加速度理论分析结果用以驱动机器人实现运动。仿真结果验证了该机器人能满足高平稳性要求,也证明了微创手术机器人具有很高的轨迹跟踪精度。To satisfy the great stationarity requirement of the minimally invasive surgery,the velocity-acceleration of the robot must be smooth and not mutational.Based on the features of a ball joint,one minimally invasive surgical robot was designed.Forward velocity problem was analyzed with the Jacobin matrix of velocity.Then according to the principle of weight,inverse velocity analysis of the robot with redundant degree of freedom was solved by the method of Lagrange multiplier.The functional relationship between joint velocity and the surgical rod′s end velocity was acquired.In addition,acceleration was obtained by derivation of joint velocity.Finally,simulation verification was carried out with the introduction of theoretical analysis results to the physical model of the robot in Matlab software.Simulation results show that the robot can meet the great stationarity requirement.The high precision of trajectory tracking of the robot was also proved.

关 键 词：速度加速度 雅克比矩阵 LAGRANGE乘子法 手术机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]