Abstract:In order to show the clamping ability of the 6-DOF manipulator fingertip of minimally invasive surgical robot at the clamping point,the fingertip posture,the object gesture and the relations between them during clamping are analyzed. The analytic expression of the fingertip gesture is deduced when the fingertips clamp the object with random postures at a gripping point,and the clamping dexterity is defined with the pose sphere.Clamping dexterity of those discrete points in the workspace of the mechanism is studied,the clamping dexterity space of the fingertips is determined,and is verified by the simulation with SimMechanics.
[1] 邢宏光,王利红,张玉茹.神经外科手术机器人灵活性分析[J].北京航空航天大学学报,2004,30(4):312~315.Xing Hong-gnang,Wang Li-hong,Zhang Yu-ru.Dexterity analysis of robot for neurosurgery[J].Journal of Beijing University of Aeronautics and Astronautics,2004,30(4):312~315.
[2] Minor M,Mukherjee R.A dexterous manipulator for minimally invasive surgery[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,1999.2057~2064.
[3] 庸粲,负超,栾胜.一种新型医疗机器人运动学及灵活性分析[J].北京航空航天大学学报,2005,31(7):748~352.Tang Can,Yuan Chao,Lnan Sheng.Analysis of kinematics and dexterity for new surgery robot[J].Journal of Beijing University of Aeronautics and Astronautics,2005,31(7):748~752.
[4] 刘达,胡磊.微创外科机器人手腕灵活性的研究[J].北京航空航天大学学报,2005,31(7):730~34.Liu Da,Hu Lei.Study on wrist dexterity of minimally invasive surgical robot[J].Journal of Beijing University of Aeronautics and Astronautics,2005,31(7):730~734.
[5] Liu Da,Wang T M,Wang Z G,et al.Study on robotassisted minimally invasive neuro-surgery and its clinical application[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,N J,USA:IEEE,2001.2008~2013.
[6] 吴剑,孙杏仞.机器人机构灵活度研究[J].北京航空航天大学学报,1993,(4):98~104.Wu Jian,Sun Xing-chn.Research on the articulation of robot manipulator[J].Journal of Beijing University of Aeronautics and Astronautics,1993,(4):98~104.
[7] 曹毅,王树新,邱燕,等.面向灵活工作空间的显微外科手术机器人设计[J].机器人,2005,27(3):220~225.Cao Yi,Wang Shu-xin,Qiu Yan,et al.Dexterous-workspace oriented design of robotic manipulators for microsurgery[J].Robot,2005,27(3):220~225.
[8] 聂忠义,刘杰,王田苗,等.脑外科机器人结构分析与参数优化设计[J].高技术通讯,2006,16(5):463~467.Nie Zhong-yi,Liu Jie,Wang Tian-miao,et al.Research on the structure and design for the parameters optimization of the brain surgical robot[J].High Technology Letters,2006,16(5):463~467.