Research On The Controlling For The Slave Hand Of Surgical Robot

Surgical robot is a kind of machine that the end of which gets into the human body, for examination or surgery. The technology of mechanics, robotics, electronics, and visual is applied to surgery. Due to huge economic and social effects, Surgical robot has become a research focus at home and abroad.Typically, the surgical robot system uses a master-slave control mode, and the doctors manipulate the main hand to control the slave hand. This paper completes the design of the slave hand, and the specific studies are as follows:The overall structure of the slave hand is designed in the paper, which is divided into two parts:the arm and finger. Each of them is designed. The kinematic model of them is established.The prototype of the arm is processed. The IPC, USBCAN, DC drivers, DC motors and limit switches are selected and the control system program is designed. The software of the single-joint and multi-joint movement is programmed by using the VC++6.0 programming software.The experimental studies of the arm are completed, including the single-joint and multi-joint experiments. The experiment of the single-joint is mainly used to debug suitable PD parameters, and the experiment of the multi-joint is used to control the move track of the end of the arm, and gets the experimental data of each joint.The experimental data are processed for obtaining the error curve of each joint. The kinematics model of the arm is established by using the Simulink simulation software. The error curves of the end are obtained. Meanwhile, in order to improve the system, the inverse analysis of the error is accompleted. That is, the maximum error of each joint is solved when the error of the end is defined. The results show that the robot system meets the requirements.