Structure Design And Simulation Of Seven Dof Force Feedback Manipulator

In recent years, minimally invasive surgery in surgery accounted for an increasing proportion, but the traditional minimally invasive surgery, doctors operate, fatigue, poor sense of immersive, and prone to malfunction during surgery. Robot-assisted minimally invasive surgery can effectively address these problems. In the development of minimally invasive surgical robot, the main hand research has been one of the hot and difficult. Minimally invasive surgical robot has been very strong for the work space, flexible operation, along with force feedback master manipulator functional needs. The issue with the actual engineering background, contact practical application, tracking industry difficulties, successfully developed a performance superior force feedback master manipulator.This paper analyzes the working process of the master hand of the master hand functional design. Based on the results of functional design, structural design of the main hand. An incremental mapping relationship and "special" type layout complete arm structure optimization, while ensuring work space without changing the articulation joint 2 and 3 of rod length parameter shortened 12.12%. The specific design of the structure of the wrist, drawing assembly drawings and part drawings wrist four joints and handle the clamping mechanism, complete concrete structure design of the wrist.The main hand kinematics model and verify its correctness by the condition number of Jacobian matrix is optimized for the main hand. Kinematics model parameters using the improved DH method to calculate the forward kinematics inverse kinematics main hand seven degrees of freedom and seven joint angles based on this model. Adams and Matlab simulation utilizing the relative ratios calculated verify the correctness of the kinematic model. According to this kinematic model to calculate the speed of the main hand Jacobi matrix. Select Jacobian matrix condition number of indicators to verify the degree of master hand operable, with Jacobi matrix condition number reciprocal arm singular configuration analysis section, and accordingly to optimize the design parameters of the mechanism, optimized to meet the target so that the target workspace with high relative manipulability.Seven- freedom for kinetic modeling of the main hand. Establish the main hand 3 dimensional dynamic model of the arm portion using Lagrange equation method, the dynamic model of the wrist section 4 degrees of freedom using Kane equation method. And the use of simulation and calculate the relative ratio of way, to verify the correctness dynamic model.Hand operated main simulation analysis and research. Adams borrowing dynamics simulation, verification main hand Add necessity reasonable counterweight. With the results of the Johns Hopkins University, calculated when the main hand during knotting operation, the joint motor torque feedback, feedback calculate the torque output when the main motor of the joint hand to provide reference for the selection of the motor. The main hand to simulate a sewing operation of integrated simulation experiment to test the ability of the main hand to achieve a good routine operation, with good dynamics.