主从式微创手术机器人主手结构设计及运动学分析  

Structure design and kinematics analysis of master manipulator for master-slave minimally invasive surgical robot

作　　者：贠今天[1,2] 左鹏 YUN Jin-tian;ZUO Peng(School of Mechanical Engineering,Tianjin Polytechnic University,Tianjin 300387,China;Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,Tianjin Polytechnic University,Tianjin 300387,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津工业大学天津市现代机电装备技术重点实验室,天津300387

出　　处：《天津工业大学学报》2019年第2期73-81,共9页Journal of Tiangong University

基　　金：天津市自然科学基金资助项目(16JCYBJC18400)

摘　　要：为提高微创手术中从手端的执行精度和控制端力觉临场感的真实程度,利用反求设计方法设计了一种串联6+1自由度主手机械结构。根据变异设计方法,基于大、小臂内部闭环传动钢丝存在中心距过大的情形,采用刚柔结合传动结构,并对其进行理论推导和参数化分析;构建主手正运动学模型,运用Matlab和ADAMS进行联合仿真;并通过蒙特卡洛方法对主手实际运动空间与要求工作空间的三维对比云图进行仿真。结果表明:与纯钢丝传动结构相比,在给定8 N预紧力情形下,刚柔结合传动结构在传动行程内减小传动空回误差0.056 mm;由Matlab和ADAMS得到的主手运动轨迹基本重合,说明所构建的正运动模型正确,主手结构设计合理;主手运动空间完全满足微创手术的工作空间要求(准150 mm×250 mm)。Aiming at increasing the operation accuracy of the slave manipulator and the telepresence of the control terminal in the minimally invasive surgery,a series of(6+1)degree of freedom(DOF)master manipulator structure is designed by using the reverse design method.According to the variation design method,based on the condition that the center distance of the steel wire in the large and small arm internal closed-loop transmission is too large,the rigid flexible combined transmission structure is adopted,theoretically derivated and parametric analyzed.The forward kinematics model of the master manipulator is constructed and simulated by Matlab and ADAMS.The three-dimensional contrast cloud of the actual motion space and the required workspace of the master manipulator is simulated by Monte Carlo method.The results show that compared with the pure steel wire transmission structure,under the given 8 N preload condition,the rigid flexible combined transmission structure reduces the transmission back error 0.056 mm with the drive stroke;the trajectory of master manipulator calculated by Matlab coincides with the simulated results by ADAMS,which proves the correctness of forward kinematics model of master manipulator and the rationality of the structure design;the motion space of master manipulator meets the requirements of minimally invasive surgical work space(Ф150 mm×250 mm).

关 键 词：主从式 微创手术机器人 主手 反求设计 刚柔结合 传动精度 正运动学模型 工作空间 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]