【摘要】：近幾年,手術(shù)機械臂技術(shù)得到了快速發(fā)展,隨著人們對于自身健康的重視及對新型醫(yī)療手術(shù)的需要,手術(shù)機械臂的研究因此也就成為了一個全球性的研究熱點。由于傳統(tǒng)的醫(yī)療手術(shù)需要醫(yī)生和護士的全程操作,因此對于醫(yī)院的人力和物力都造成極大的損耗,且難度大的手術(shù)過程中還需要專家級的醫(yī)生長時間的操作。手術(shù)時間的冗長對于醫(yī)生及護士的體力及手術(shù)精準性都帶來不小的挑戰(zhàn),而利用機器人代替外科醫(yī)生實施手術(shù)會給病人帶來體外切口小、手術(shù)痛楚輕,給醫(yī)院帶來節(jié)約人力物力、手術(shù)恢復快等優(yōu)點,同時還能有效的提高手術(shù)安全性。本課題擬研究一種新型的外科手術(shù)機器人系統(tǒng),對機械機構(gòu)進行選型,分析其運動學和動力學,以機械臂工作空間和力消耗為分析對象,針對工作空間優(yōu)化了機械臂的結(jié)構(gòu)參數(shù)和力分布,研制一種七自由度串聯(lián)型醫(yī)療機械臂。首先,針對工作要求選擇機器人的自由度和機構(gòu)構(gòu)型。其次基于D-H法建立了機械臂的參數(shù)表,根據(jù)機械臂正運動學理論通過姿態(tài)轉(zhuǎn)換矩陣得到運動學正解方程,并依據(jù)機械臂的構(gòu)型特點和實際工作狀態(tài),結(jié)合現(xiàn)代控制理論中的李雅普洛夫大范圍漸近穩(wěn)定原理解非線性方程得到機械臂的運動學逆解方程。為了提高醫(yī)療機械臂的工作空間和手術(shù)效率,減小機械臂的操作空間和結(jié)構(gòu)尺寸,以適應(yīng)針對不同病人的工作特點和手術(shù)環(huán)境,本課題提出了基于工作空間的結(jié)構(gòu)優(yōu)化模型,得到了機械臂的結(jié)構(gòu)和轉(zhuǎn)角參數(shù)。并分析了優(yōu)化后的機械臂工作空間。再次,對機械臂的關(guān)節(jié)受力情況進行分析,確定動力機構(gòu)的功率,包括機構(gòu)的轉(zhuǎn)速和扭矩,從而確定采用的電機型號和減速器。減速器考慮了常規(guī)的齒輪減速、行星齒輪減速和諧波齒輪減速器,同時還要綜合考慮減速器的減速比、靜態(tài)阻尼等因素,結(jié)合關(guān)節(jié)力分析和力優(yōu)化最終得到機械臂的動力機構(gòu)。分析其動力學及校核剛度和強度,以使其滿足工作要求。最后,設(shè)計了機械臂的肩關(guān)節(jié)、肘關(guān)節(jié)和腕關(guān)節(jié)結(jié)構(gòu),并根據(jù)本手術(shù)機器人的工作要求設(shè)計了手術(shù)器械,搭建實際的機械臂系統(tǒng)平臺對機械臂的性能進行相關(guān)實驗研究。
[Abstract]:In recent years, surgical manipulator technology has been developed rapidly. with the attention to their own health and the need for new medical surgery, the research of surgical manipulator has become a global research focus. Because the traditional medical operation needs the whole operation of doctors and nurses, it causes great loss to the manpower and material resources of the hospital, and the difficult operation process also needs the operation of the expert doctor for a long time. The length of operation time poses a lot of challenges to the physical strength and accuracy of doctors and nurses, and the use of robots instead of surgeons to carry out surgery will bring patients with small incisions in vitro and less pain. It brings the advantages of saving manpower and material resources, fast recovery of operation and so on, and can also effectively improve the safety of operation. In this paper, a new surgical robot system is studied, the mechanical mechanism is selected, its kinematics and dynamics are analyzed, and the workspace and force consumption of the manipulator are taken as the analysis object. Aiming at optimizing the structural parameters and force distribution of the manipulator in workspace, a seven-degree-of-freedom series medical manipulator is developed. Firstly, the degree of freedom and mechanism configuration of the robot are selected according to the working requirements. Secondly, based on the D 鈮，

本文編號：2490941