The Research And Structure Optimization Of Surgical Robot Manipulator

In recent years, the rapid development of surgical robotic arm technology research arm surgery has become a hot research topic. Compared with manual operation, surgical robot has a small wound, high positioning accuracy, flexible operation, etc., can effectively improve the quality and safety of surgery, doctors operate expand capacity, improve the working environment of doctors, which caused a worldwide wide attention, and has achieved rapid development. This paper intends to combine the structural characteristics of surgical robot arm to arm kinematics and dynamics theory-based, arm work space and power consumption for the analysis of the object, for work space and power optimization of the manipulator joint structure parameters and force distribution, the development of a six degrees of freedom tandem medical arm.First, the characteristics of a surgical robot for the task of arm work environment is analyzed and summarized the requirements of the basic functions of the robot arm, on this basis the freedom of the robot arm configuration and configuration design.Secondly, DH Act establishes the manipulator kinematics equations based on positive solutions, and based on the characteristics and configuration of the actual working conditions arm, using the anti-conversion law to establish a manipulator inverse kinematics equations. In order to improve medical and surgical manipulator workspace efficiency, reduce operating space and structure size robotic arm to fit the work environment for different characteristics and surgical patients, this study intends to propose a model based on structural optimization workspace, get structural parameters and rotation parameters of the robotic arm.Once again, the force of the arm joints were analyzed to determine the power of the power sector, including the speed and torque agencies to determine the type and use of motor reducer. Reducer considered conventional gear, planetary gear reducer and harmonic gear reducer, while also considering the reduction ratio gearbox, static damping and other factors, combined joint force analysis and power optimization of power sector arm finally obtained.Finally, in view of the surgical robot working requirements of high positioning accuracy, respectively, design of mechanical arm shoulder joint, elbow and wrist joints, and according to the job requirements of the surgical robot designed surgical instruments, set up the actual mechanical arm system platform related experiments on the performance of the robotic arm. Experimental platform is divided into mechanical arm ontology and control system of two parts, mainly for mechanical arm joint drive ability and the range of the manipulator end point movement for validation.