Structure Synthesis Of An Universal Surgical Robotic Master Hand Based On Space Match And Parameter Optimization

The purpose of this paper is to design an universal surgical robotic master-hand with the sense of forces, which can achieve a good match in the workspace, with the existing brain surgery slave-hand, chest and abdominal surgery and so on.First of all, for the versatility of the master-hand robot, we study the basic requirements and technical indicators of its design, and carry out a comprehensive configuration on this basis. With the related knowledge of virtual displacement matrix, we get 18 different combinations of the first three joints. According to that analysis of this design requirements, we initially set the multi-joint type as the configuration of this universal master-hand robot. In the multi-joint type, the joint structure RRR is selected as the component form of the first three joints, which is silimar to human's arm. Then we analyze the component form of robotic wrist, and determine the last three joints to be a three-axle conjoint ball wrist configuration with rotation and the principle of position and attitude separation.Secondly, for the initial configuration of universal master-hand, modified D-H's law is used to build the kinematic model of it. Entering relavant paremeters, we can obtain its equations of motion. Employed the introduced Monte Carlo method earlier, the parameters ofθ₁,θ₂,θ₃,d₁,a₂,d₃,d₄ are analyzed to the impact of workspace. We can finally firm the configuration of universal master-hand on this basis. Solving the anti-kinematics to determined universal master-hand, we make the expression ofθ₁,θ₂,θ₃ used into the constrained conditions of structural parameter optimization.At last, we ensure the design variables, the objective fuction and constrained conditions of mechanical optimal design. Then, the random direction with the idea of Monte Carlo is selected for the optimization method to carry out structural parameter optimization. We find the optimal resolve and draw the structural chart. Finally, we carry out the summary of whole paper and future work prospects.