微尺度缝针自动夹持器的设计  

The Design of Automatic Gripper Used to Clamp Micro Stitch

作　　者：李建平[1] 杨洋[1] 徐存良[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《机械设计与研究》2012年第1期109-112,共4页Machine Design And Research

基　　金：国家自然科学基金资助项目(50675008)

摘　　要：根据角膜缝合手术的特点,并结合微尺度缝针自动夹持器的技术要求,文中对一种自动夹持器的结构进行了设计。通过赫兹理论讨论了两圆柱体间的接触问题,并利用有限元分析方法对夹持器模型进行了分析,取得了缝针在不发生塑性变形条件下,夹持器直线运动关节的极限位移,为夹持器的控制提供了依据。最后进行了夹持器夹持缝针的试验,试验结果验证了这种夹持器的可行性和实用性。According to the characteristics of corneal suturing operation and the technical requirements of automatic gripper used to clamp the micro stitch,the structure of an automatic gripper was designed in this paper.Based on the Hertz theory,the contact problem between two cylinders was discussed.And depending on the finite element analysis of the gripper model,the limit displacement of the linear motion joint of the gripper was obtained without plastic deformation of the needle,which providing the basis for grippers control.Finally,the operation experiment of clamping micro stitch is carried out.Results from experiments testify the feasibility and practicability of the presented automatic gripper.

关 键 词：角膜缝合 持针器 接触理论 有限元分析 

分 类 号：TH122[机械工程—机械设计及理论]