冗余复合构型微创手术机器人定位方法研究  

Research on Positioning Method of Minimally Invasive Surgical Robot with Redundant Configuration Type Manipulator Arm

作　　者：曹莹瑜[1] 齐铂金[1] 张艳琦[2] 王国帅[2] 陈钢[3] 赵倩[2] CAO Ying-yu QI Bo-jin ZHANG Yan-qi WANG Guo-shuai CHEN Gang ZHAO Qian(School of Mechanical Engineering and Automation, BeiHang University, Beijing 100191, China School of Mechanical Engineering, Beijing Institute of Petrochemical Technology, Beijing 102617, China Department of Interventional ultrasound, Chinese PLA General Hospital, Beijing 100853, China)

机构地区：[1]北京航空航天大学机械工程与自动化学院,北京100191 [2]北京石油化工学院机械工程学院,北京102617 [3]中国人民解放军总医院介入超声科,北京100853

出　　处：《北京石油化工学院学报》2016年第4期43-47,共5页Journal of Beijing Institute of Petrochemical Technology

基　　金：国家科技支撑计划资助项目(2013BAI01B01);北京市教育委员会科技计划面上资助项目(Z13-003)

摘　　要：根据冗余复合构型微创手术机器人兼具冗余关节和被动关节的特点,提出了一种针对此类复杂多自由度机器人的定位方法。首先分析了机器人构型特点,然后利用D-H法建立了机器人运动学方程,并结合临床实际,确定冗余关节角,将运动方程进行退化,得到合理的运动学逆解和定位角。利用微型磁定位传感器进行被动关节臂实时位形测定,开发出机械臂定位界面,提示操作者进行定位和臂形设置。实验结果表明,定位方法可行,可视化效果好,适于临床操作。According to the characteristics of redundant joint and passive joint, a kind of positioning method of minimally invasive surgical robot with manipulator arm in redundant configuration type is proposed. Firstly, according to the configuration characteristic of robot, the D- H kinematics equation of the robot is established, and then combined with clinical practice the redundant joint angle is determined; Finally, with the motion equation of degradation, the reasonable inverse kinematics solution and the orientation angle areobtained. Using micro magnetic positioning sensors to measure the real-time position of passive joint arm, the robot arm is developed to locate. The experimental results show that the positioning method is feasible, and the visualization effect is favorable.

关 键 词：冗余机械臂 复合构型 运动学逆解 臂形设置 定位方法 

分 类 号：TH122[机械工程—机械设计及理论]