2URR-URU远中心并联机构性能分析与尺度优化  

Performance analysis and dimensional optimization of a 2URR-URU parallel mechanism with remote center of motion

作　　者：车林仙[1] 李杰 文世坤 蒋海义 CHE Linxian;LI Jie;WEN Shikun;JIANG Haiyi(School of Intelligent Manufacturing and Transportation,Chongqing Vocational Institute of Engineering,Chongqing 402260,China;Chongqing Qingling Automobile Axle Co.,Ltd.,Chongqing 400039,China;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]重庆工程职业技术学院智能制造与交通学院,重庆402260 [2]重庆庆铃车桥有限公司,重庆400039 [3]南京航空航天大学机电学院,南京210016

出　　处：《机械传动》2025年第4期37-47,共11页Journal of Mechanical Transmission

基　　金：重庆市教育委员会科学技术研究项目(KJZD-K202303404);重庆市教育委员会科学技术研究项目(KJQN202403409);重庆工程职业技术学院校级科研项目(2024KJA01002);泸州市科技计划项目(2023JYJ069)。

摘　　要：【目的】机器人用于穿刺、活检、眼科等微创手术时,要求末端执行器通过固定创口中心,且绕该中心转动。为此设计了一种远中心运动并联机构。【方法】应用两平面相交原理,提出了一种能实现远中心运动的、可用于微创手术的2URR-URU两转动一移动自由度并联机构,应用旋量理论分析其自由度,并确定了其运动特性。建立了机构位置分析模型,得到位置逆解表达式;应用旋量理论分析机构速度,得到输入、输出Jacobian矩阵,并据此分析了机构奇异位形;应用输入、输出传递指标评价了机构的运动和力传递性能,建立了微创手术期望工作空间全域传递性能评价指标;将期望工作空间规划为偏置形式,以提高该空间的全域传递性能。以全域传递性能最优为目标,建立机构尺度参数约束优化模型;使用混合社会认知优化算法求解该问题,并给出机构尺度优化的设计实例。【结果】结果表明,机构末端执行器能实现远中心运动的设计要求,机构优化模型和算法可行有效;同时,优化后的机构全域性能有明显提升。[Objective] When robots are used in the minimally invasive surgical fields such as puncture,biopsy,and ophthalmology operations,the end effector to pass through the fixed wound center and to perform rotations around it are required.For this purpose,a kind of parallel mechanism with the remote center of motion was designed.[Methods] Using the principle of the intersection of two planes,a novel 2URR-URU parallel mechanism with two rotational and one translational degrees of freedom was proposed to realize the remote center of motion for the minimally invasive surgery.The screw theory was applied to analyze its degree of freedom and to identify the motion characteristic.The position analysis model was established to obtain the analytical expressions of inverse displacement solutions to this mechanism.The velocity of the mechanism was analyzed by means of the screw algebra method,and the input and output Jacobian matrices were derived.On this basis,the possible singular configurations of the mechanism were investigated.The input and output transmission indices were used to evaluate the motion and force transmission performances of the mechanism.Furthermore,the evaluation indices for global transmission performances in the expected workspace of minimally invasive surgery were introduced.The expected workspace designed as the deviation type can enhance the global transmission performances of the mechanism.A constrained optimization model was constructed to formulate the design problem of dimensional parameters on the optimizing global transmission performance,and the hybrid social cognitive optimization algorithm was employed to solve this problem.A case of the dimensional optimization design of the mechanism was given.[Results] The results show that the mechanism can meet the design requirements of the remote center of motion,and the presented model and algorithm for mechanism optimization are feasible and effective.At the same time,the global performance indices of the mechanism obtained by the optimization design ar

关 键 词：微创手术 并联机构 旋量理论 性能指标 尺度参数优化 

分 类 号：TH789[机械工程—仪器科学与技术]