手术机器人万向关节组的正逆运动学分析  

Forward and inverse kinematics analysis based on universal joint group of surgical robot

作　　者：姜文军 吕东波 陈正隆 李晓贞 JIANG Wenjun;LYU Dongbo;CHEN Zhenglong;LI Xiaozhen(College of Mechanical Engineering,Anhui Science and Technology University,Fengyang 233100,China)

机构地区：[1]安徽科技学院机械工程学院,安徽凤阳233100

出　　处：《安徽科技学院学报》2023年第6期103-110,共8页Journal of Anhui Science and Technology University

基　　金：安徽省自然科学基金面上项目(2108085ME167);泰州市双创计划企业创新类资助项目。

摘　　要：目的:以手术机器人万向关节组为基础,研究正逆运动学对万向关节组在给定轨迹上运动的影响。方法:通过齐次坐标法和D-H参数法建立手术机器人万向关节组2种正运动学模型,并推导其运动学方程。建立D-H参数法的逆运动学方程和逆运动学分析计算。通过3个运动学方程对正逆运动学进行仿真分析和数据验证。结果:2个正运动学方程计算的末端关节位置相同,逆运动学方程计算的关节角度D-H参数法,得到新的正逆运动学计算方法。结论:建立了精准控制手术机器人万向关节组的运动学方程,验证了正逆运动学计算方法的正确性和万向关节组运动的稳定性,为手术机器人万向关节组运动控制的研究奠定了基础。Objective:Based on the analysis of universal joint group of surgical robot,this paper mainly studied the influence of forward and inverse kinematics on the movement of universal joint group on a given trajectory.Methods:Two forward kinematics models of the surgical robot's universal joint group were established by homogeneous coordinates method and D-H parameter method,and its kinematics equations were derived.The inverse kinematics equation of D-H parameter method and the analysis and calculation of inverse kinematics were established.The forward and inverse kinematics simulation analysis and data validation were conducted through three kinematics equations.Results:The simulation and calculation results showed that the end joint position calculated by the two forward kinematics equations was the same,and the joint angle calculated by the inverse kinematics equation was consistent with the D-H parameter table.A new forward and inverse kinematics calculation method was obtained.Conclusion:The kinematics equation of the precise control surgical robot's universal joint group was established,and the correctness of the forward and inverse kinematics calculation method and the stability of the universal joint group movement were verified.This had laid the foundation for the research on the motion control of the universal joint group of surgical robots.

关 键 词：万向关节组 D-H参数法 运动学方程 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]