| Centered on the special topic of Design and Development on the Controller of Microsurgery Robot. Based on the personal computer design a open system include motion control, haptic simulink, real-time communication and so on. The control of slave-master isomerics type are fully and systematically analyzed and studied, obtaining some valuable outcomes of theoretical and practical significance, which has been successfully applied on MicroHand system. Based on the basal manipulation and spatial arrangement of the microsurgery, dovetailed the vein during microsurgery manipulation as practical application object, the action of the doctor is recorded and quantified analyzed. Depend on above criterion we design a Joint Type robot in the same plane. What's more, this type robot solve the coupling of robot's position and posture in mechanism and predigest the arithmetic on control. Make use of a thread to realize the four bolting bar can simple the mechanism and reduce the weigh of systemAfter construct equations of kinematics of the slave and master, we utilize the equal of generalized movement in the same coordinate, solve the problem on control of slave-master isomerics type robot. At the same time, through micro movement to linearization the contra-kinematics formula and result in the reduce of calculate work increase the master-slave real-time characteristic. Linearization is like a double blade sword, on the one hand simple calculate on the other reduce the system precision.In the end, we engage in the feedback method to improve its precision. In the following computer simulink we draw the conclusion that this method improve Linearization formular precision obviously.To validate the theoretical analysis, the experiments on MicroHand slave and the whole system are made. MicroHand does cutting separate and stanch operation ,"do sewing work". What's more, after several the stitch of the bionics vein , MicroHand as the primatal surgery succeed stiching the vein in the rat's cervix.
|
PDF Full Text Request