乳腺癌伽玛刀换源机器人运动学仿真研究  

Research on kinematics simulation for replacing radioactive-source robot of gamma-knife equipment for breast cancer

作　　者：苗学刚[1] 邓建春[1] 

机构地区：[1]华中科技大学机械科学与工程学院,武汉430074

出　　处：《机械设计与制造》2012年第3期158-160,共3页Machinery Design & Manufacture

基　　金：国际合作横向课题;湖北省教育厅项目编号(0216100065)

摘　　要：乳腺癌伽玛刀是一种新研制的治疗乳腺癌的放射性治疗设备,针对利用工业机器人更换乳腺癌伽玛刀放射源的实际要求,根据机器人的结构特点,建立机器人D-H连杆坐标系和机器人运动学方程,并对机器人运动学正问题和逆问题进行分析,利用MATLAB编程求解机器人运动学逆解,分析了机器人更换乳腺癌伽玛刀放射源的工作过程,规划了机器人换源运动轨迹,在COSMOSMotion中仿真机器人换源的运动过程,分析了机器人关节的运动曲线,为研究真实的换源情况提供技术支持。Gamma-knife for breast cancer is a new developed radioactive treatment equipment, starting with the practice that using of robot to replace radioactive-sources of the Gamma-knife equipment for breast cancer,according to the structure characteristics of the robot,then the D-H link-pole coordinate system and robot kinematics equations are estaSlished,and robot kinematics and the inverse kinematics problems are analyzed.By using of MATLAB the inverse kinematics is solved,and the working process of using robot to replace radioactive-source is analyzed.Meanwhile the robot motion trajectory is planned as well,and the kinematics process of replacing radioactive-sources with robot is simulated in COSMOSMo- tion,the kinematics curves of robot are analyzed, which provides technical support for studying the truth of replacing radioactive-source.

关 键 词：乳腺癌伽玛刀 机器人 换源 运动学 仿真 轨迹规划 

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]