Theoretical Study On New Medical Hybrid Operator Mechanism

The application of robot technology to medical assistant operations has many advantages such as precise positioning,remote control,minimally invasive,and intelligent.It has gradually become a research hotspot in the field of robotics.In the research and design of medical aided robots,the configuration of the robot needs to be determined first.This topic proposes a hybrid manipulator mechanism based on a parallel robot arm equipped with a finger mechanism.Compared with the traditional serial robot arm configuration,it has high rigidity The advantages of strong versatility and good flexibility have important theoretical and practical significance for the research of medical assistant robots.In this topic,a new three-finger hybrid operating hand mechanism is proposed,which consists of 2RPR + 2R + UPR type parallel mechanism and single-degree-of-freedom finger mechanism.Based on the introduction of the structure of the hybrid manipulator mechanism,a systematic analysis of the working space,kinematics performance,dynamics performance of the hybrid manipulator mechanism and the stable grasping of the manipulator are carried out.Based on the CAD variable geometry method,a wireframe model of the hybrid operator mechanism is built to solve the reachable working space of the mechanism.The geometric constraint relationship between 2RPR + 2R + UPR parallel mechanism and finger mechanism is analyzed,and the position solution model of parallel mechanism and finger mechanism is established by vector method.Furthermore,combining the relationship between the parallel mechanism and the finger structure,a mapping model of the driving input and terminal output speeds and accelerations of the hybrid manipulator mechanism is established.According to the principle of virtual work,the static model of the hybrid manipulator mechanism is established,and the mapping model between the driving force,the force of the force measuring rod and the external load is obtained.On the basis of the kinematics model,based on the Newton-Euler method and the principle of virtual work,a dynamic model of the hybrid manipulator mechanism is established.With the help of Matlab / Simulink / SimMechanics tools,a simulation model of the hybrid linkage operator mechanism is built to verify the above theoretical analysis results.Based on the hybrid manipulator mechanism proposed in this topic,the contact model during the gripping process between the finger and the target object is established.Method for solving the stable gripping force of the hybrid linkage manipulator mechanism.