基于压电陶瓷驱动的腹腔手术微型机器人关节驱动部件研究

STUDY ON THE JOINT DRIVER OF MICRO ROBOT BASED ON PIEZOELECTRIC ELEMENT FOR CELIAC OPERATION

摘要: 本文简要介绍了一个基于压电陶瓷驱动的腹腔手术用微型机器人系统，重点叙述了微型机器人关节驱动部件的结构设计方案及其实现，对所设计的柔性铰链进行了定量力学分析，并通过实验证明采用柔性铰链来实现驱动位移的放大是确实可行的．

Abstract: This paper introduces the micro robot system based on piezoelectric element for celiac operation, with the emphasis on the design realization and mechanical analysis of the joint driver. Quantitative mechanical analysis on the flexure hinge is made. Experiment shows that it is feasible to magnify the driving displacement with flexure hinge.