关于内镜机器人柔性机械臂运动学分析模型的研究  

Research on the kinematics analysis model of flexible robotic arm of endoscopic robots

作　　者：童子龙 孙丽萍 徐林龙 陆鑫涛 Tong Zilong;Sun Liping;Xu Linlong;Lu Xintao(School of Health Sciences and Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China;Medical Instrumentation College of Shanghai University of Medicine&Health Sciences,Shanghai 200237,China;School of Mechanical Engineering,Jiangnan University,Wuxi 214122,China)

机构地区：[1]上海理工大学健康科学与工程学院,上海200093 [2]上海健康医学院医疗器械学院,上海200237 [3]江南大学机械工程学院,无锡214122

出　　处：《现代仪器与医疗》2023年第4期46-52,共7页Modern Instruments & Medical Treatment

基　　金：国家重点研发计划资助(2018YFB1307700)。

摘　　要：本文基于内镜机器人的执行端——柔性机械臂,对其应用较为广泛的运动学分析模型进行综述。目前的内镜机器人想要精确控制柔性机械臂需要在设计之初对柔性机械臂进行运动学分析,得到执行机构自由端的坐标矩阵或基于控制原点的运动方程。对于不同设计的机械臂机构,相关领域的学者使用的方法有D-H表达法(Denavit-Hartenberg)或者通过执行机构的几何关系分析运动学,以及通过链式梁约束模型(Chained Beam-Constraint-Model,CBCM)得到运动学求解。This paper reviewd widely used kinematic analysis models for flexible robotic arms at the executive end of endoscopic robots.To accurately control the flexible manipulator,the kinematics of the flexible manipulator must be analyzed at the outset of the design to obtain either the coordinate matrix of the free end of the actuator or the motion equation based on the control origin.For different robotic arm mechanism designs,scholars in related fields use methods such as D-H expression(Denavit-Hartenberg)or analysis of kinematics based on actuator geometry,as well as kinematic solutions using Chained Beam-Constraint-Model(CBCM).

关 键 词：内镜机器人 柔性机械臂 运动学分析 D-H表达法 链式梁约束模型 

分 类 号：TH122[机械工程—机械设计及理论]