前列腺粒子植入机器人可变重力矩补偿研究

发布时间：2018-06-17 15:23

本文选题：机器人 + 前列腺　；参考：《华中科技大学学报(自然科学版)》2017年04期

【摘要】：针对临床上前列腺粒子植入常用的人体截石位操作方式,计算出一般患者截石位的机器人布局和可操作空间,研制了一种满足临床应用的悬臂关节式前列腺放射性粒子植入机器人.首先,为了改善机器人低速运动平稳性问题,研究了悬臂可变重力矩补偿机制,得到悬臂可变重力矩完全补偿的约束条件;其次,通过合理地配置弹簧的技术参数,设计了合适的大、小臂可变重力矩补偿装置;最后,完成了重力、重力矩补偿分配仿真试验和重力矩补偿性能定量评价试验.试验结果表明:设计的可变重力矩补偿装置能够实现悬臂在任意位置的完全平衡,改善了驱动扭矩幅值的波动,提高了粒子植入机器人操作的稳定性.
[Abstract]:Aiming at the commonly used human lithotomy operation mode in clinic, the robot layout and the operable space of the general patient's lithotomy position are calculated. A cantilever articular prostatic radioactive particle implantation robot is developed for clinical application. Firstly, in order to improve the stability of the robot's low speed motion, the mechanism of the cantilever variable weight torque compensation is studied, and the constraint condition of the cantilever variable weight moment compensation is obtained. Secondly, the technical parameters of the spring are reasonably configured. A suitable variable weight torque compensation device with large and lower arms is designed. Finally, the gravity and torque compensation distribution simulation test and the quantitative evaluation test of gravity and torque compensation performance are completed. The experimental results show that the designed variable weight torque compensation device can achieve the complete balance of the cantilever at any position, improve the fluctuation of the driving torque amplitude, and improve the stability of the operation of the particle implanted robot.
【作者单位】：哈尔滨理工大学机械动力工程学院;哈尔滨理工大学智能机械研究所;中国人民解放军总医院泌尿外科;
【基金】：国家自然科学基金资助项目(51675142,51305107) 黑龙江自然科学基金资助项目(E201448)
【分类号】：TP242

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