Teleoperation Of Master And Slave Robot

In recent years,the development of robotics field has made great revolution in almost every field,especially robotics plays a vital role in medical field.Nowadays robots are taking part in surgery with surgeons.Robotics has begun to be applied in the field of minimally invasive surgery.Robot-assisted minimally invasive surgery can not only improve the accuracy of surgical operations and make it possible to implement previously inoperable surgery,but also reduce the risk of surgical failure due to human factors,reduce the physical labor of doctors and accelerate the recovery of patients.At present,there are many researches and achievements in robot-assisted abdominal minimally invasive surgery.This thesis is based on teleoperation of master-slave devices in the laboratory.The master device in this project is delta parallel robot and the slave device is remote center of motion(RCM)mechanism.Firstly,the kinematic analysis of Delta parallel mechanism is carried out in detail,and considering the simplification of the mass matrix,the dynamic model of the parallel manipulator is established by the virtual work principle,and the MATLAB program is written to verify their accuracy,which lays the foundation for the following theoretical analysis and experimental research.Secondly,design of the remote center of motion mechanism structure,this paper conducted kinematics and mechanics analysis.In kinematics analysis,the DH method was used in this paper to establish the reference coordinate system for each joint of the mechanism.The D-H parameters of the joint were derived to derive the forward kinematics transformation matrix and the scope of the work space of the mechanism was simulated.Besides,calculated the inverse kinematics and used the principle of virtual work to analyze the statics of the mechanism.Finally,teleoperation control system is established with its corresponding hardware and software control schemes for the master and slave device respectively.Socket programming is used for communication between both end and a force sensor is used to get force feedback from slave robot.