Design,Modeling And Control Strategy Of Continuum Robot With Uneven Notches

In order to reduce the minimally invasive holes on the patient's body surface,the single-hole laparoscopic surgical robot is limited by a single minimally invasive hole.Compared with the traditional porous laparoscopic surgical robot,the working mode has been changed greatly.This is a bold attempt in the field of laparoscopic surgery robots to reduce the risk of infection of patients as much as possible.This exploration is very meaningful in the field of medicine or robots.Although the constraints of the external environment are more complicated,there are many types of single-port laparoscopic surgical robots.This subject will design a new type of single-port laparoscopic surgical robot,and establish closed solutions of the kinematic model and hysteresis compensation for the continuum manipulator.First,imitating the configuration of a human arm,a 7 DOFs continuum robot arm is proposed,including a single DOF clamping jaw,a 2 DOFs continuum manipulator,a 2 DOFs joint for expansion,a single DOF rotation joint,and a single DOF prismatic joint.The structural design is completed.The kinematic model of each joint is given.The overall structure has the characteristics of lightweight and flexible movement.Secondly,the CEIS mechanical model with higher accuracy and a wider range of objects has been used to establish a kinematics model of the continuum manipulator.Through the elliptic integral complete solution,when the terminal load is known,the numerical algorithm of the relevant algorithm can be used to obtain the deformation parameters of the flexible beam.In order to improve the accuracy of the kinematic model,during the solution of each flexible beam,the influence of the two driven wires is taken into consideration,including the pulling force,supporting force and friction force of the two driven wires.With proper assumptions,the remaining force vectors given by the driven wire can be solved.Through the equivalent treatment of the interaction force,the end-load expression at the end of each flexible beam is greatly simplified.After the end-load of each flexible beam is known,their deformation parameters can be obtained by numerical iteration through corresponding algorithms.Thirdly,the kinematics model based on the mechanical model is used to optimize the structural performance of the continuum manipulator and the optimization of the assumption of equal curvature.The kinematic model based on the assumption of equal curvature is derived from the geometric relationship.The closed forward kinematics model and inverse kinematics model can be obtained.The modified B-W model can be used to describe the hysteresis of the continuum manipulator,which can improve the accuracy of the model to a certain extent.Finally,the mechanical platform and control platform of the system is established to complete the functional verification experiment of each joint.Considering the sterilization work required before surgery,a quick-change function is needed.Due to the influence of redundant degrees of freedom and joint coupling,the forward kinematics and inverse kinematics models of the overall system are needed to be further studied after grasping more information.