混联机器人结构设计及优化  

Design and optimization of hybrid structure robot

作　　者：胡德成[1] 刁燕[1] 陈章平[1] 

机构地区：[1]四川大学制造科学与工程学院,成都610065

出　　处：《机械设计与制造》2011年第8期165-167,共3页Machinery Design & Manufacture

基　　金：四川省科技支撑计划资助(07GG008-026)

摘　　要：针对传统开放手术病人创伤大、微创手术医生易疲劳等现状,设计出一种基于混联结构的微创手术机器人。为满足微创手术的各种复杂动作,该机器人采用冗余8自由度结构提高其灵活性;结合球关节结构紧凑特点,所设计机器人采用串并联相结合的混联结构提高自身刚度,满足微创手术机器人高精度、小尺寸要求。依据所设计结构,在Matlab软件中对机器人的运动学、灵活工作空间等求解及仿真,论证了结构设计的合理性。Specific to big trauma of patients in traditional open surgery and easy fatigue of doctors in Minimally Invasive Surgery（MIS）,a MIS robot based on hybrid structure was designed,which could meet various complex movements in MIS by applying redundancy 8 DOF to improve its flexibility;Combined with the compact structure of globe joint,the robot designed adopts hybrid structure with series and parallel combination to improve its free stiffness and meet the requirement of MIS robot for high precision and small size.According to the structure design,simulation and solving for the kinematics and flexible space of robot is carried out with MATLAB software,which rationality of the structure design is demonstrated.

关 键 词：微创手术 机器人 混联结构 优化 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]