一种远中心并联机构运动学与性能分析
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摘要
由固定移动副驱动的并联机构具有刚度好、精度高等优点,适合应用于外科手术领域。微创穿刺活检等手术要求机器人可驱动手术器械绕远端固定点转动。提出了一种2PURR-PUR远中心并联机构,采用螺旋理论分析了机构的自由度,确定了其运动特性。机构可执行绕远端中心的两个转动运动和一个通过该中心的移动运动。建立机构的位置模型,得到了位置逆解表达式。通过速度分析建立了雅可比矩阵,并得到了机构的奇异位形。机构具有逆解奇异和正解奇异。分析机构的工作空间。基于运动/力传递性能方法,分析机构的性能指标,绘制工作空间内的性能分布图,对机构进行了尺度优化。提出的远中心机构可用于穿刺活检、近距离放射治疗、冷冻手术等单一微小创口的外科手术。
Parallel manipulators actuated by fixed linear actuators have the merits of high stiffness and high accuracy, which are very welcome in surgery field. Surgical operations such as minimally invasive biopsies require the robots have the ability to perform rotations around a fixed remote center. A 2PURR-PUR parallel manipulator with remote center of motion is proposed with its mobility and motion characteristic verified using screw theory. The manipulator can perform two rotational motion around a remote center and a translational motion through that center. Position model of the manipulator is established and inverse position solutions are obtained. Jacobian matrix is derived based on the velocity analysis, which is further used in singularity analysis. It is demonstrated that the parallel manipulator has inverse singularities and forward singularities. Workspace of the manipulator is determined. Using the method of motion/force transmission, the local transmission index of the manipulator over its workspace is sketched. Dimensional optimization is carried out. The proposed parallel manipulator with remote center of motion can be applied in minimally surgical operations with single incision such as invasive biopsies, brachytherapy, and cryotherapy.
Parallel manipulators actuated by fixed linear actuators have the merits of high stiffness and high accuracy, which are very welcome in surgery field. Surgical operations such as minimally invasive biopsies require the robots have the ability to perform rotations around a fixed remote center. A 2PURR-PUR parallel manipulator with remote center of motion is proposed with its mobility and motion characteristic verified using screw theory. The manipulator can perform two rotational motion around a remote center and a translational motion through that center. Position model of the manipulator is established and inverse position solutions are obtained. Jacobian matrix is derived based on the velocity analysis, which is further used in singularity analysis. It is demonstrated that the parallel manipulator has inverse singularities and forward singularities. Workspace of the manipulator is determined. Using the method of motion/force transmission, the local transmission index of the manipulator over its workspace is sketched. Dimensional optimization is carried out. The proposed parallel manipulator with remote center of motion can be applied in minimally surgical operations with single incision such as invasive biopsies, brachytherapy, and cryotherapy.
引文
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[17]ZHANG Ningbin,HUANG Pengcheng,LI Qinchuan.Modeling,design and experiment of a remote-center-of-motion parallel manipulator for needle insertion[J].Robotics and Computer-Integrated Manufacturing,2018,50:193-202.
[18]黄真,刘婧芳,李艳文.论机构自由度[M].北京:科学出版社,2011.HUANG Zhen,LIU Jinfang,LI Yanwen.Mobility of mechanisms[M].Beijing:Science Press,2011.
[19]GOSSELIN C M,ANGELES J.Singularity analysis of closed-loop kinematic chains[J].IEEE Transactions on Robotics and Automation,1990,6(3):281-290.
[20]LUM M J H,ROSEN J,SINANAN M N,et al.Kinematic optimization of a spherical mechanism for a minimally invasive surgical robot[C]//IEEE International Conference on Robotics and Automation,April 26-May01,2004,New Orleans,Los Angeles.USA:IEEE,2004:829-834.
[21]ANGELES J,LòPEZ-CAJúN C S.Kinematic isotropy and the conditioning index of serial robotic manipulators[J].International Journal of Robotics Research,1992,11(6):560-571.
[22]STOUGHTON R S,ARAI T.A modified Stewart platform manipulator with improved dexterity[J].IEEETransactions on Robotics and Automation,1993,9(2):166-173.
[23]MERLET J P.Jacobian,manipulability,condition number,and accuracy of parallel robots[J].Journal of Mechanical Design,2006,128(1):199-206.
[24]WANG Jinsong,WU Chao,LIU Xinjun.Performance evaluation of parallel manipulators:Motion/force transmissibility and its index[J].Mechanism and Machine Theory,2010,45(10):1462-1476.
[25]陈祥,谢富贵,刘辛军.并联机构中运动/力传递功率最大值的评价[J].机械工程学报,2014,50(3):1-9.CHEN Xiang,XIE Fugui,LIU Xinjun.Evaluation of the maximum value of motion/force transmission power in parallel manipulators[J].Journal of Mechanical Engineering,2014,50(3):1-9.
[2]丁杰男,王树新,贠今天,等.主从式外科手术机器人实时控制算法[J].机械工程学报,2006,42(12):163-168.DING Jienan,WANG Shuxin,YUN Jintian,et al.Realtime control algorithm for teleoperated surgery robot[J].Chinese Journal of Mechanical Engineering,2006,42(12):163-168.
[3]KUO C H,DAI J S,DASGUPTA P.Kinematic design considerations for minimally invasive surgical robots:An overview[J].The International Journal of Medical Robotics and Computer Assisted Surgery,2012,8(2):127-145.
[4]KUO C H,DAI J S.Kinematics of a fully-decoupled remote center-of-motion parallel manipulator for minimally invasive surgery[J].Journal of Medical Devices,2012,6(2):021008.
[5]SCHNEIDER O,TROCCAZ J.A six-degree-of-freedom passive arm with dynamic constraints(PADyC)for cardiac surgery application:Preliminary experiments[J].Computer Aided Surgery:Official Journal of the International Society for Computer Aided Surgery(ISCAS),2001,6(6):340-351.
[6]GUTHART G S,SALISBURY J K.The IntuitiveTMtelesurgery system:Overview and application[C]//IEEEInternational Conference on Robotics and Automation,April 24-28,2000,San Francisco,California.USA:IEEE,2000:618-621.
[7]宗光华,裴旭,于靖军,等.双平行四杆型远程运动中心机构的设[J].机械工程学报,2007,43(12):103-108.ZONG Guanghua,PEI Xu,YU Jinjun,et al.Design of double parallelogram remote center of motion mechanisms[J].Chinese Journal of Mechanical Engineering,2007,43(12):103-108.
[8]LI Jianmin,ZHANG Guokai,XING Yuan,et al.A class of 2-degree-of-freedom planar remote center-of-motion mechanisms based on virtual parallelograms[J].Journal of Mechanisms and Robotics,2014,6(3):031014.
[9]LUM M J,ROSEN J,SINANAN M N,et al.Optimization of a spherical mechanism for a minimally invasive surgical robot:Theoretical and experimental approaches[J].IEEE Transactions on Biomedical Engineering,2006,53(7):1440-1445.
[10]LUM M J H,FRIEDMAN D C W,SANKARANARAYANAN G,et al.The RAVEN:Design and validation of a telesurgery system[J].International Journal of Robotics Research,2009,28(9):1183-1197.
[11]LEHMAN A C,TIWARI M M,SHAH B C,et al.Recent advances in the CoBRASurge robotic manipulator and dexterous miniature in vivo robotics for minimally invasive surgery[J].Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science,2010,224(7):1487-1494.
[12]LI Qinchuan,XU Lingmin,CHEN Qiaohong,et al.New family of RPR-equivalent parallel mechanisms:Design and application[J].Chinese Journal of Mechanical Engineering,2017,30(2):217-221.
[13]LI Jianmin,ZHANG Guokai,MüLLER A,et al.A family of remote center of motion mechanisms based on intersecting motion planes[J].Journal of Mechanical Design,2013,135(9):091009.
[14]BEIRA R,SANTOS-CARRERAS L,ROGNINI G,et al.Dionis:A novel remote-center-of-motion parallel manipulator for minimally invasive surgery[J].Applied Bionics and Biomechanics,2011,8(2):191-208.
[15]HADAVAND M,NAISH M D,PATEL R V.A parallel remote center of motion mechanism for needle-based medical interventions[C]//IEEE RAS/EMBSInternational Conference on Biomedical Robotics and Biomechatronics,August 12-15,2014,Sao Paulo.Brazil:IEEE,2014:1-6.
[16]LI Qinchuan,HERVéJ M,HUANG Pengcheng.Type synthesis of a special family of remote center-of-motion parallel manipulators with fixed linear actuators for minimally invasive surgery[J].Journal of Mechanisms and Robotics,2017,9(3):031012.
[17]ZHANG Ningbin,HUANG Pengcheng,LI Qinchuan.Modeling,design and experiment of a remote-center-of-motion parallel manipulator for needle insertion[J].Robotics and Computer-Integrated Manufacturing,2018,50:193-202.
[18]黄真,刘婧芳,李艳文.论机构自由度[M].北京:科学出版社,2011.HUANG Zhen,LIU Jinfang,LI Yanwen.Mobility of mechanisms[M].Beijing:Science Press,2011.
[19]GOSSELIN C M,ANGELES J.Singularity analysis of closed-loop kinematic chains[J].IEEE Transactions on Robotics and Automation,1990,6(3):281-290.
[20]LUM M J H,ROSEN J,SINANAN M N,et al.Kinematic optimization of a spherical mechanism for a minimally invasive surgical robot[C]//IEEE International Conference on Robotics and Automation,April 26-May01,2004,New Orleans,Los Angeles.USA:IEEE,2004:829-834.
[21]ANGELES J,LòPEZ-CAJúN C S.Kinematic isotropy and the conditioning index of serial robotic manipulators[J].International Journal of Robotics Research,1992,11(6):560-571.
[22]STOUGHTON R S,ARAI T.A modified Stewart platform manipulator with improved dexterity[J].IEEETransactions on Robotics and Automation,1993,9(2):166-173.
[23]MERLET J P.Jacobian,manipulability,condition number,and accuracy of parallel robots[J].Journal of Mechanical Design,2006,128(1):199-206.
[24]WANG Jinsong,WU Chao,LIU Xinjun.Performance evaluation of parallel manipulators:Motion/force transmissibility and its index[J].Mechanism and Machine Theory,2010,45(10):1462-1476.
[25]陈祥,谢富贵,刘辛军.并联机构中运动/力传递功率最大值的评价[J].机械工程学报,2014,50(3):1-9.CHEN Xiang,XIE Fugui,LIU Xinjun.Evaluation of the maximum value of motion/force transmission power in parallel manipulators[J].Journal of Mechanical Engineering,2014,50(3):1-9.