微创腹腔外科手术机器人主操作手优化与分析  

Optimization and analysis on master manipulator of laparoscopic surgery robot

作　　者：王宏民[1,2] 闫志远[1] 李勇[1] 杜志江[1] 刘荣强[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080 [2]黑龙江科技大学电气工程学院,黑龙江哈尔滨150027

出　　处：《哈尔滨工程大学学报》2013年第10期1310-1315,1326,共7页Journal of Harbin Engineering University

基　　金：国家863计划资助项目(2009AA044001)

摘　　要：针对腹腔镜手术的要求,以及主操作手性能指标和主操作手设计原则,把主操作手设计为具有冗余自由度的串并联混合型结构并进行了自由度的相应配置.并联机构实现从手3个位置参数的控制,串联机构是一个4自由度的冗余机构,实现从手3个姿态参数的控制.在运动学层面上,引入全域性性能指标和全域运动性能波动指标,利用遗传算法对并联机构进行优化设计,根据优化后的杆件参数计算出主操作手的工作空间,满足设计需求.并分别对串并联机构灵巧度进行了分析,通过仿真分析验证了主操作手的工作空间无奇异点,串联机构通过增加冗余自由度使得灵巧度得到了提高.According to the operation requirements of the laparoscopic surgery, the performance indices and design principles of the master manipulator, the master manipulator is designed as a series and parallel connection of hy- brid structure with redundant degree of freedom, and the degree of freedom is correspondingly configured. The par- allel-conneetion mechanism is controlled by 3 location parameters of the manipulator. The serial-connection mecha- nism is a 4-DOF redundant mechanism, which is controlled by 3 attitude parameters. At the kinematics level, we introduce global performance index and global motion performance fluctuating index, and utilize genetic algorithm for the optimization and design of the parallel-connection mechanism. According to the optimized member parame- ters, the workspace of the master manipulator is calculated to meet the design requirements. In addition, the dexter- ity of the serial-connection and parallel-connection mechanism are analyzed. The simulation results proves that the master manipulator has no singular point in its workspace, and the dexterity of the serial-connection mechanism is improved by adding redundant degree of freedom.

关 键 词：主操作手 工作空间 运动学分析 微创手术 优化分析 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]