2-PURR-PUR手术机器人运动学分析与设计

发布时间：2018-06-16 03:41

本文选题：微创手术 + 运动学　；参考：《浙江理工大学》2017年硕士论文

【摘要】：微创手术机器人的发展有效地拓展了手术医生的能力,提升了手术质量,减轻了病人的痛苦,目前已成为研究热点。微创手术机器人的结构设计是否合理,将直接影响该机构的灵活性、普适性及控制精度。本文提出一种新型的2-PURR-PUR并联机构,并对其进行运动学分析、奇异性分析、性能分析、尺寸优化及样机设计,其主要内容概括如下:建立2-PURR-PUR并联机构的简单模型,注明动坐标系、定坐标系及相关参数。基于螺旋理论,对机构的一般位型进行自由度分析并用修正的G-K公式加以验证,得到该机构具有两个绕固定点的转动自由度和一个过固定点的移动自由度。利用闭环矢量法对机构进行运动学分析,得到驱动量与机构动平台两转一移之间的反解表达式。对机构的反解表达式求全微分,得到驱动与动平台速度之间的关系式和雅克比矩阵。奇异性分析采用计算雅克比矩阵行列式的方法,得出该机构只存在逆运动学奇异,不存在正运动学奇异或混合奇异。综合考虑机构杆长限制、转动副转角限制、杆件相互干涉、奇异位型等实际因素,利用数值搜索法求出机构的可达工作空间。基于螺旋理论,以瞬时功为核心的运动/力传递性能指标LTI和运动/力约束性能指标TCI对2-PURR-PUR机构进行性能分析与评价,并以GTW性能指标作为目标函数对机构完成尺寸优化。最后利用参数优化得到的杆长结果对机构进行样机设计。本文研究工作有助于2-PURR-PUR机构在医疗手术机器人领域的研究与开发。
[Abstract]:The development of minimally invasive surgery robot has effectively expanded the ability of surgeons, improved the quality of surgery, and alleviated the suffering of patients. Whether the structure design of minimally invasive surgical robot is reasonable or not will directly affect the flexibility, universality and control accuracy of the mechanism. In this paper, a new 2-PURR-PUR parallel mechanism is proposed, and the kinematics analysis, singularity analysis, performance analysis, dimension optimization and prototype design are carried out. The main contents are summarized as follows: the simple model of 2-PURR-PUR parallel mechanism is established and the dynamic coordinate system is indicated. Fixed coordinate system and related parameters. Based on the helical theory, the general position of the mechanism is analyzed and verified by the modified G-K formula. It is obtained that the mechanism has two rotational degrees of freedom around the fixed point and one moving degree of freedom over the fixed point. The closed-loop vector method is used to analyze the kinematics of the mechanism, and the inverse solution between the driving quantity and the moving platform is obtained. The total differential equation of the inverse solution of the mechanism is obtained, and the relation between the driving and the velocity of the moving platform and the Jacobian matrix are obtained. The method of calculating Jacobian matrix determinant is used in singularity analysis. It is concluded that there are only inverse kinematics singularities and no positive kinematic singularities or mixed singularities. Considering the practical factors such as the restriction of the length of the mechanism, the rotation angle of the rotating pair, the interference of the members and the singularities, the reachable workspace of the mechanism is obtained by using the numerical search method. Based on the helical theory, the performance of 2-PURR-PUR mechanism is analyzed and evaluated by LTI and TCI, which take instantaneous work as the core, and the GTW performance index is used as the objective function to optimize the performance of the mechanism. Finally, the prototype of the mechanism is designed by using the results of rod length obtained by parameter optimization. The research work in this paper is helpful to the research and development of 2-PURR-PUR in the field of medical surgical robot.
【学位授予单位】：浙江理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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