| The application of robotic technology in the medical surgery field has huge potential, which catches more and more people's attention. In the late 80s of last century, a new research field— robot assisted brain surgery has come out in order to settle the difficulties in the traditional brain surgery. This thesis expatiates on several issues on the new brain surgery robot during its realization period. The issues are introduced as followings: First of all, according to the requirements of the brain surgery operation, the robot's machine system has been designed; the robot's kinematics and dexterity have been analyzed; grounded on the analysis of the robot's dexterity, we have found out a method to optimize the robot's structure parameters; and then the machining processes has been designed to assure the precision requirements. Next, based on the analysis of the technical requirements of the robot's control system, the PLC controller has been selected as the controller of this system and the scheme of the control system including selecting electrical parts and writing control software with related software has been worked out. Finally, through a lot of tests it has proved that the precision of the robot's control and machine system meet the requirements of the surgery operation. |
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