Kinematic And Dynamic Characteristics Research For The Main Motion Arm Of Long-Range Medical Robot

Medical robot is one of important directions of industrial robot technology development. In this paper, the features based on the medical robot were presented, the structural design of the main motion arm was done, kinematic and dynamic models of the main motion arm were built and a test platform of the main motion arm was developed.This paper is mainly concentrated in the following areas:(1) Introducing the development of medical robot, the current situation at home and abroad, the international representative of the medical robot main motion arm and the development and research methods of multi-body dynamics theory. And expounding the significations of the research paper and the major work.(2) MicroHand structural analysis was done for the microsurgery robot system developed by Tianjin University and a parallel robot was analyzed. Trying and designing with parallel institutions the main motion arm structure of medical robot according with overall requirements of the subject. 3D solid models of the main motion arm were built by the Pro/E software.(3) Kinematic modeling analysis was done for parallel institutions designed. The closed-form of the normal solution of the institution has been studied and a closed-form of the reverse solution has been educed..(4) Several of the mechanical dynamic analysis method was introduced. According to the idiographic requirement of the subject, the designed institution was analyzed with the Kane approach and a dynamic equation of the parallel institution was gained.(5) Based on the preliminary design, a experimental system platform was structured. Quantitative and qualitative judgement was done for the foregoing derivation process and results by collecting and observing experimental datum.To sum up, the work undertaken throughout this paper raised the overall framework and theoretical basis for the preliminary development and further study of the whole subject. Research methods were explored and tried in the structure design, kinematics modeling, dynamic analysis and so on. A actual operation foundation was settled for the follow-up work development. And an effective way was explored.