一种新型变曲率柔性关节微创手术机械手设计  

Design of a New Minimally Invasive Manipulator for Flexible Joint with Variable Curvature

作　　者：董佳祥 李伟光[1] 王春宝[2,3] 刘铨权 DONG Jia-xiang;LI Wei-guang;WANG Chun-bao;LIU Quan-quan(School of Mechanical and Automotive Engineering South China University of Technology,Guangdong Guangzhou 510641,China;The First Affiliated Hospital of Shenzhen University,Guangdong Shenzhen 518035,China;Shenzhen Institute of Geriatrics,Guangdong Shenzhen 518020,China)

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510641 [2]深圳大学第一附属医院,广东深圳518035 [3]深圳市老年医学研究所,广东深圳518020

出　　处：《机械设计与制造》2022年第2期295-299,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(61703282);智能机器人与系统高精尖创新中心开放基金资助项(2018IRS08)。

摘　　要：针对狭窄工作空间,微创手术机器人受限于机械手末端执行器灵活度不足,导致医生无法有效进行手术操作的问题。本论文提出一种新型变曲率柔性关节微创手术机械手,通过刚柔体同轴嵌联结构,控制外层柔性关节机加工弹簧和内层刚性基杆的耦合长度,实现机械手前端连续变曲率万向弯曲运动。论文阐述了机械手柔性关节设计、动力传递实现方法及使用ANSYS软件完成重要部件仿真分析;构建运动控制模型,并利用MATLAB软件得到末端执行器的工作空间;实验验证微创手术机械手柔性关节变曲率弯曲运动。结果表明狭窄空间下,微创手术机械手实现了连续、有规律的变曲率万向弯曲运动。For narrow working spaces,minimally invasive surgical robots are limited by the lack of flexibility of the robot’s end effector,which causes the doctor to be unable to perform the surgical operation effectively. In this thesis,a new minimally invasive surgery robot with variable curvature flexible joint is proposed. The coupling length of the outer flexible joint machining spring and the inner rigid base rod is controlled by the rigid and flexible coaxial embedded structure to realize the continuous variable curvature omni-directional bending movement of the front end of the manipulator. It expounds the manipulator flexible joint design,power transmission realization method and the use of ANSYS software to complete the important component simulation analysis;build the motion control model,and use MATLAB software to get the end effector workspace;the experiment verified the flexible curvature bending motion of the flexible joint of the minimally invasive surgery manipulator. The results show that the minimally invasive surgical manipulator achieves a continuous and regular variable curvature omni-directional bending motion in a narrow space.

关 键 词：变曲率 柔性关节 狭窄空间 驱动单元 运动控制模型 

分 类 号：TH16[机械工程—机械制造及自动化] TH122