The Mechanism Design And Kinematic Simulation Of Interventional Surgery Robot

The robot has been used in medical area as the development of robot technology. This paper presents an interventional surgery robot that is used to assist in microsurgery of abdomen and thorax. Based on the reference of large number of literatures this paper presents a 7-DOFs series of modular robot. This paper also analyzes the forward kinematics and inverse kinematics and Jacobian matrix and dexterous workspace. The kinematics of robot is simulated by ADAMS software.This paper has decided the configuration of robot that has redundant DOF based on the study of domestic and overseas literatures. The robot is classified two types of module like as joint module and link module in the modular theory. The joint module has five different types, such as holder modular, pitching modular, rotate modular, pivot modular and translation modular. Each modular has its own actuator and the placement signal feedback component. The forward kinematics was calculated with D-H method and the inverse kinematics was solved with geometric method and the velocity Jacobian matrix was constructed using vector product method.The dexterity workspace is simulated by Matlab with the concept of dexterity degree and service sphere. The dexterity workspace is classified two types by the sign of the third joint angle. This paper give the dexterity workspace of every arm style. The effect on dexterity workspace of robot parameters is simulated by Matlab and also gives the best workspace.At last the kinematics of robot is simulated with ADAMS. The virtual robot model is built using Pro/E and then the model is transferred to ADAMS using M/Pro. Two representative robot work mode are simulated and the paper gives the joint angle curves and joint velocity curves. The Jacobian matrix is also validated by ADAMS.