Research On Characteristic Of Multi-Body Dynamic Of Master Manipulator Of Medical Robot

Medical robot is one of the important directions of development of industry robot technology. In this thesis, the design plan of master manipulator of medical robot based on the theory of multi-body dynamics is put forward, the structure of master manipulator is designed, the model of kinematics and dynamics is constructed, and the control system software of master and slave manipulators of medical robot is developed.The main task of this thesis concerns following aspects.1. Two routes of technology for research of master manipulator are put forward. After the analysis of these routes, the one of constructing the model of physical and kinematics first, then using the theory of multi-body dynamics, and then mending the route is chosen.2. After the analyzing of the structures of the system of microsurgery robot named MicroHand developed by Tianjin University and the manipulator of force reflect named PHANToM Desktop produced by Sensable Technologies Company, the structure of master manipulator of medical robot is designed.3. The simple structure of master manipulator is given. By using the D-H matrix, the model of kinematics of master manipulator is constructed. The control system software of master and slave manipulators of medical robot is developed based on the Microsoft Windows 2000 and Microsoft Visual Basic 6.0.4. Depending on the way of lower-body array and connecting matrix, the topology structure of master manipulator is described. By Kane equation, the model of dynamic of master manipulator of medical robot is constructed.In conclusion, the purpose and effect of this thesis is to give a general frame and theory foundation, discuss and attempt the research method from the aspects of construction design, kinematic model and dynamic analysis. As a result, it has made a reliable foundation for the following work, and given a feasible way to finish the work.