从操作手RCM机构重力补偿研究  

Study on Gravity Compensation of RCM Mechanism of Slave Manipulator

作　　者：马保平 张帆[2] 张召颖 邹洵 张国胜 Ma Baoping;Zhang Fan;Zhang Zhaoying;Zou Xun;Zhang Guosheng(Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;Shanghai University of Engineering Science,Laboratory of Intelligence Control and Robotics,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620 [2]上海工程技术大学机器人智能控制实验室,上海201620

出　　处：《机械传动》2021年第6期90-95,164,共7页Journal of Mechanical Transmission

摘　　要：为提高具有远程运动中心(RCM)的内窥镜手术机器人从操作手的定位精度和运动稳定性,对从操作手进行动力学等效,得出构件的等效质心位置,采用拉簧-绳轮对机械臂进行重力补偿;再根据拉格朗日方程建立从操作手RCM机构的动力学模型,采用计算力矩法进行重力补偿。通过Adams对比分析了经重力补偿后从操作手各个关节的运动响应曲线。结果表明,重力补偿模型可有效补偿重力项。In order to improve the positioning accuracy and motion stability of endoscopy surgery robotwith remote motion center(RCM)of slave manipulator,the equivalent centroid position of the component is ob-tained by dynamic equivalence of slave manipulator,and the gravity compensation of the manipulator is carriedout by the pull spring-rope wheel.Then the dynamic model of RCM mechanism from the slave manipulator is es-tablished according to the Lagrange equation,and the gravity compensation is carried out by the method of calcu-lating moment.By comparing and analyzing the motion response curves of each joint of the manipulator aftergravity compensation with Adams,it shows that gravity compensation model can effectively compensate gravityitems.

关 键 词：RCM机构 重力补偿 计算力矩法 拉格朗日方程 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]