力反馈主操作手附加力的补偿策略研究  

Research on Compensation Strategy for Induced Forces of Force Feedback Master Manipulators

作　　者：贠今天[1,2] 刘阳阳[1] 杨全利[3] 桑宏强[1,2] 

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津市现代机电装备技术重点实验室,天津300387 [3]天津职业技术师范大学,天津300222

出　　处：《中国机械工程》2017年第10期1156-1162,共7页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51205287);天津市自然科学基金资助项目(16JCYBJC18400)

摘　　要：针对力反馈主操作手的连杆重力、关节摩擦力以及惯性力影响医生真实感知反馈力信息的问题,建立了一套完整的动力学模型。基于力反馈主操作手动力学模型,分别建立了主操作手的重力补偿模型、摩擦力补偿模型以及惯性力补偿模型。通过力补偿控制策略来消除力反馈主操作手本身所具有的重力、关节摩擦力以及惯性力伴随关节运动对反馈作用力造成的干扰,实现了医生的真实力觉感知,从而提高了微创手术的精度。Aiming at the problems that the connecting rod gravity, joint frictions and inertia forces of force feedback master manipulator affected doctor’s real perception of feedback force informations, a complete dynamics model was established. Based on the dynamics model of force feedback master manipulator, gravity compensation model, friction compensation model？ and inertia force compensa-tion model were established respectively. Force compensation strategies were used to eliminate the in-terferences to feedback forces from gravity, joint friction and inertia force of force feedback master manipulator in joint movements. Thus the doctor,s real force perception is realized and the accuracy of minimally invasive surgery is improved.

关 键 词：力反馈 主操作手附加力 补偿策略 动力学模型 微创手术 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]