| With robot-related technologies improvment, medical robot becomes an emerging, interdisciplinary field of study, and it can assist in the medical work. Application of medical robot can not only reduce the human labor, but also improve the accuracy of the operation of the process. In addition, In some toxic agent configuration process, volatile drugs will damage the health of the operators greatly, such as the preparation of chemotherapeutic agents. In this paper, an automated dispensing apparatus for injection of drugs was designed which can not only protect health workers from physical harm of dispensing process but also avoid health worker of the tedious dispensing work.In this paper, six degrees of freedom articulated robot was completed the action of automatic dispensing work of injectable drugs with the help of corresponding auxiliary equipment, the main contents of this paper include the following aspects:(1) Accessing to relevant information and introducing the research status of the automatic dispensing robot at home and abroad.(2) After artificial dispensing process was analysed, configuration process of a specific injection drug was planned. Dispensing process of injectable pharmaceutical was determined. The design and selection of six degrees of freedom robot and the auxiliary module were completed. In addition, the three-dimensional model of the dispensing apparatus was established by Pro E software.(3) First, the D-H model of the robot was built and simulated using robotics toolbox in MATLAB. Solving kinematic equations and Jacobian matrix; Then Monte Carlo methods and Simulink / SimMechanics toolbox are used to solve the robot workspace separately to verify the workspace solved correctly.(4) On the basis of Monte Carlo method for solving work space, the algorithm which is used to extract the workspace boundary points. Accoding to the workspace boundary points is fitted by the least squares method in order to obtain detailed parameters of the workspace in order that the assembly of the entire dispensing apparatus is completed. Next, establish manipulator end pose error equation, and design the sampling function to sample the position and posture of manipulator end. At last, the simulation was made in matlab to analyze the impact of the end of the robot parameters pose errors.(5) Firstly, the theories of the cubic polynomial interpolation and the quintic polynomial interpolation are introduced in the manipulator joint space. Secondly, simulation was made by robotics toolbox in MATLAB to achieve trajectory planning in joint space and Cartesian space, and the results was shown that the robot can track the desired effect. |
