一种基于根管预备的绳驱机器人设计与分析  

Design and Analysis of a Rope-driven Robot Based on Root Canal Preparation

作　　者：陈国良[1] 欧阳健 CHEN Guoliang;OUYANG Jian(School of Mechanical and Electrical Engineering,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学机电工程学院,武汉430070

出　　处：《自动化与仪表》2024年第2期81-85,共5页Automation & Instrumentation

摘　　要：该文设计一种应用于根管预备手术中绳驱机器人构型。电机转动输出连接软轴,软轴与绳索滚筒采用锥度插孔相连,可以实现输出轴方便快捷的拆卸,便于末端机构的高温消毒程序。采用绳索驱动实现驱动元件与执行元件的相对远距离布置,保证末端执行部件的较小尺寸,便于在口腔狭小空间中进行动作。对末端执行机构根管锉软轴进行变形分析,并利用相邻关节间绳索的反向拉缩进行运动的补偿,保证关节间运动的解耦。最后进行样机的制作并验证其基本运动与运动补偿具备可行性。This paper a rope-driven robot configuration for root canal preparation surgery was designed.The motor rotation output is connected with the flexible shaft,and the flexible shaft is connected with the rope drum by a taper jack,which can realize the convenient disassembly of the output shaft and facilitate the high-temperature disinfection procedure of the end mechanism.The cable drive is used to realize the relative remote arrangement of the drive elements and the execution,and to ensure the small size of the end execution parts,which is convenient for the action in the narrow space of the mouth.The deformation of the root canal file flexible shaft of the end actuator was analyzed,and the movement was compensated by the reverse tension of the rope between the adjacent joints to ensure the decoupling of the movement between the joints.Finally,the prototype is made and the feasibility of its basic motion and motion compensation is verified.

关 键 词：构型设计 根管预备手术机器人 关节间运动解耦 有限元分析 样机模型 

分 类 号：TH6[机械工程—机械制造及自动化]