Design And Study On The Master Manipulator Of The Microsurgery Robot System

Based on the relevant knowledge of Haptics and force feedback of ergonomics, design of Haptic Master Manipulator in Microsurgery Robot System is analyzed and researched. The form of corresponding Master Manipulator is decided by the different kinds of RAMS system, including Cartesian Coordinate RAMS Master Manipulator and Articular RAMS Master Manipulator. The kinetic analysis of them is done and the forward kinematics and the spatial Jacobian Matrix of them are set up. Virtual sample model of Cartesian Coordinate RAMS Master Manipulator is set up and the dynamic simulation and structure optimization of it is discussed. The detailed structure of Cartesian Coordinate RAMS Master Manipulator is stated and the concise structure of PHANToM Desktop is introduced. The relevant experiments of Cartesian Coordinate RAMS Master Manipulator are done and the experiment results are evaluated by standard of the useful data from ergonomics. The forms of Master Manipulator are determined by the corresponding kind of RAMS system. The theory of robot kinematics based on the theory of screws is introduced. The kinetic analysis is done and the forward kinematics and the spatial Jacobian Matrix are set up.The knowledge of Ergonomic is discussed and four main kinds of Master Manipulator, according to the structure style, are introduced. The design flow chart of haptic master manipulator is presented.The fundamental structure and principle of Cartesian Coordinate RAMS Master Manipulator is decided according to the design requirements. The model of it is set up by simulation software. The dynamic simulation is discussed. The detailed structure is presented .The overall structure of PhANToM Desktop is introduced.The experiments of two kinds of master manipulator are done. The result data is compared with the simulation data and the rationality is justified by the knowledge of ergonomics.