力反馈型主操作手工作空间分析与仿真方法研究

发布时间：2018-03-12 20:52

  本文选题：MATLAB　切入点：主操作手　出处：《机械传动》2016年07期 　论文类型：期刊论文

【摘要】：主操作手工作空间代表了主操作手的活动范围,从几何方面讨论了主操作手的工作性能,它是衡量主操作手工作能力的一个重要的运动学指标,在主操作手的设计、控制与应用过程中,都需要考虑。通过主操作手正运动学解计算求得末端执行器空间位置与各关节变量之间的函数关系,在MATLAB中分别运用数值法、图解法以及解析法对主操作手的工作空间进行仿真;根据三维电磁跟踪系统采集的位置信息,通过定量与定性分析,验证求解主操作手工作空间仿真算法的正确性;最后根据所得工作空间形状体积,布局主操作手在操作台上的位置,同时,提出3种主操作手工作空间求解方法的特点及其应用场合,为主操作手运动学性能指标评价和术前手术规划奠定了基础。
[Abstract]:The master manipulator workspace represents the master manipulator of the range of activities, the main operating performance of hand is discussed from the aspect of geometry, it is an important index to measure the kinematics of the master manipulator working ability, in the design of the master manipulator, control and application process, need to consider the functional relationship between the calculated. The end effector position and the joint variables through the master manipulator kinematics solution, respectively using numerical method in MATLAB, the working space of the master manipulator of the graphic method and analytic method of simulation; according to the position information acquisition of 3D electromagnetic tracking system, through quantitative and qualitative analysis, verify the correctness of solving the main operation in a work space simulation algorithm; finally according to the workspace shape, the layout of the master manipulator on the operating table position, at the same time, put forward 3 kinds of master manipulator workspace solution method. The basis of the kinematic performance evaluation and the preoperative operation planning of the main operator is laid.

【作者单位】： 天津电子信息职业技术学院机电技术系;
【分类号】：TH777;TP242
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本文编号：1603256