岳龙旺, 许天春, 贠今天. “妙手”系统机械结构设计与优化[J]. 机器人, 2006, 28(2): 154-159.
引用本文: 岳龙旺, 许天春, 贠今天. “妙手”系统机械结构设计与优化[J]. 机器人, 2006, 28(2): 154-159.
YUE Long-wang, XU Tian-chun, YUN Jin-tian. Mechanism Design and Optimization for "MicroHand" System[J]. ROBOT, 2006, 28(2): 154-159.
Citation: YUE Long-wang, XU Tian-chun, YUN Jin-tian. Mechanism Design and Optimization for "MicroHand" System[J]. ROBOT, 2006, 28(2): 154-159.

“妙手”系统机械结构设计与优化

Mechanism Design and Optimization for "MicroHand" System

  • 摘要: 为了辅助医生更好地完成显微外科手术,开发了一种主从异构的显微外科手术机器人系统———“妙手”系统.“妙手”系统的主手为商业化的Phantom Desktop主手,从手为针对显微外科血管缝合而设计的“妙手”从手.从手包括位置机构和姿态机构.位置机构通过丝传动实现双四连杆机构的运动特性;姿态机构采用三轴交汇于一点的设计思想.通过分析双四连杆机构的运动特性,根据Angeles运动灵活度指标对双四连杆机构进行了优化.结果表明:当双四连杆机构前三级杆等长且I级杆与III级杆垂直时,机构运动灵活度取最大值.

     

    Abstract: In order to assist the surgeon to accomplish micro-surgery better,we develop a new master-slave isomerous micro-surgery robotic system,i.e."MicroHand".The master manipulator is Phantom Desktop,which is a commercial robot with comfortable manipulability.The slave manipulator is developed by our lab,which is designed for the micro-surgery.The slave manipulator includes two parts: position mechanism and orientation mechanism.The position mechanism can implement kinematic characteristics of double four-bar linkage structure by cable driving,and the orientation mechanism applies the structure of three rotating axes intersecting at one point.Based on the kinematic analysis of the double four-bar linkage mechanism and the kinematic conditioning index,we optimize the double four-bar linkage mechanism.The result indicates that the system has the maximal dexterity when the first three links of the double four-bar linkage mechanism have equal length and link I is perpendicular to link III.

     

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