基于远心机构的主操作手建模与仿真研究
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摘要
针对泌尿外科微创手术机器人的末端执行器如何在有限空间中完成给定任务,以提高泌尿外科微创手术的安全性问题,对其主操作手的运动学和工作空间进行了研究。根据泌尿外科微创手术特点和技术要求,基于远心机构,设计了具有6个自由度主操作手,用于控制该手术机器人的末端执行器;采用修正后的D-H参数法,建立了运动学模型,求得了主操作手的末端空间位置与各关节变量之间的函数关系和运动学逆解;利用Matlab和ADAMS软件对主操作手进行了运动学和理论工作空间仿真,并进行了结果对比分析。研究结果表明:该主操作手结构设计合理、模型建立准确、灵活度高,可以完成给定手术任务。
Aiming at the problem how the robotic end effector for minimally invasive urology surgery can accomplish a given task in limited space to improve the safety of minimally invasive urology surgery,the kinematics and workspace of the master manipulator were studied. According to the characteristics and technical requirements of minimally invasive urology surgery,a master manipulator with 6-DOF was designed based on the remote centre motion( RCM) mechanism,which was used to control the robotic end effector. And the kinematics model of master manipulator was established with the improved D-H method,the functional relationship between the end of master manipulator and the spatial position of each joint variable and the kinematics solution of inverse was obtained. The simulation of the kinematics and workspace for master manipulator was carried out by ADAMS and Matlab,and the results were compared and analyzed. The results indicate that the master manipulator is reasonable,the model is established accurately,the flexibility is high,and the given operation task can be completed.
Aiming at the problem how the robotic end effector for minimally invasive urology surgery can accomplish a given task in limited space to improve the safety of minimally invasive urology surgery,the kinematics and workspace of the master manipulator were studied. According to the characteristics and technical requirements of minimally invasive urology surgery,a master manipulator with 6-DOF was designed based on the remote centre motion( RCM) mechanism,which was used to control the robotic end effector. And the kinematics model of master manipulator was established with the improved D-H method,the functional relationship between the end of master manipulator and the spatial position of each joint variable and the kinematics solution of inverse was obtained. The simulation of the kinematics and workspace for master manipulator was carried out by ADAMS and Matlab,and the results were compared and analyzed. The results indicate that the master manipulator is reasonable,the model is established accurately,the flexibility is high,and the given operation task can be completed.
引文
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[3]倪自强,王田苗,刘达.医疗机器人技术发展综述[J].机械工程学报,2015,51(13):45-52.
[4]屈金星.微创手术机器人力反馈型主操作手设计与研究[D].天津:天津大学机械工程学院,2014.
[5] SILVA A J,VEGA V P,OLIVER J P O. PHANTo M OMNI haptic device:kinematic and manipulability[C]. Electronics,Robotics and Automotive Mechanics Conference,IEEE Computer Society,Nanjing:IEEE,2009.
[6] MORTIMER M,HORAN B,STOJCEVSKI A. 4 Degree-ofFreedom haptic device for surgical simulation[C]. IEEE World Automation Congress,Beijing:IEEE,2014.
[7] VU M H,NA U J. A new 6-DOF haptic device for teleoperation of 6-DOF serial robots[J]. IEEE Transactions on Instrumentation&Measurement,2011,60(11):3510-3523.
[8]唐照坤.七自由度力反馈主手结构设计与仿真[D].哈尔滨:哈尔滨工业大学机电工程学院,2015.
[9] VULLIEZ M,ZEGHLOUL S,KHATIB O. Kinematic analysis of the delthaptic,a new 6-DOF haptic device[J]. Advances in Robot Kinematics,2016(4):181-189.
[10]王杰,管声启,夏齐霄.手指康复外骨骼机器人的结构优化设计[J].中国机械工程,2018,29(2):224-229.
[11]王连香.运动约束型微创手术机器人运动学分析及仿真[D].北京:中国科学院大学计算机与控制工程学院,2016.
[12] WIJK V V D,DEMEULENAERE B,GOSSELIN C,et al.Comparative analysis for low-mass and low-inertia dynamic balancing of mechanisms[J]. Journal of Mechanisms&Robotics,2012,4(3):031008.
[13]牛国君,潘博,付宜利.腹腔微创机器人远心定位机构优化设计[J].机器人,2016,38(3):285-292.
[14]张顺心,王晓东,尹立轶,等.六自由度植牙手术机器人设计及动态特性分析[J].河北工业大学学报,2017,46(4):28-33.
[15] LEE H,CHEON B,HWANG M,et al. A master manipulator with a remote-center-of-motion kinematic structure for a minimally invasive robotic surgical system[J]. Int J Med Robot,2017(1):1865-1877
[16]蔡自兴.机器人学基础[M]. 2版.北京:机械工业出版社,2013.
[17]吕坤勇,朱勋,沈桐,等.多自由度手术器械的结构设计与工作空间仿真[J].机械科学与技术,2016,35(12):1888-1893.
[18]赵建文,宋胜涛,李瑞琴,等. 2-RPR+RRP球面混联机构的可达工作空间研究[J].机械传动,2017(1):24-27.
[19]孙野,殷凤龙,王香丽,等.六自由度机械臂运动学及工作空间分析[J].机床与液压,2015(3):76-81.