| In the current wave of intelligent technology development,the detection technology for the biological hospitals that make the human body sick is still manual operation led by humans,and the manual detection workload is large,the speed is slow,the cycle is long,and the accuracy of the detection results is related to the detection of doctors.The level of knowledge is related to technical experience.Due to the shortcomings of manual detection,a detection instrument that is simple to operate and can be automated is needed to improve the accuracy and efficiency of detection of pathogenic organisms in hospitals.Based on this application background,this subject designs an intelligent medical testing instrument that will realize the establishment of a three-dimensional model of the organism and the collection of surface feature information.This article mainly analyzes the kinematics,trajectory planning,and motion accuracy analysis of the manipulator in the intelligent medical testing instrument.The research content is as follows:(1)Analyze the working principle of the existing biological detection methods in the hospital,analyze the functions of the intelligent medical detection instrument according to the relevant product design requirements,adopt a functional modular design method,and use SolidWorks software to complete the intelligent medical detection instrument Structural design.(2)Perform kinematics analysis on the six-degree-of-freedom tandem manipulator in the intelligent medical testing instrument,use the DH parameter method to derive the forward and inverse kinematics equations of the manipulator,use the Robotics toolbox in MATLAB to create a virtual model of the manipulator,and the kinematics equations are correct To verify the performance,the Monte Carlo method is used to solve the working space at the end of the manipulator.Two trajectory planning methods in joint space and Cartesian space are used to study the motion trajectory of the manipulator,and MATLAB is used to simulate and verify the trajectory model.(3)Analysis of the static pose accuracy of the end of the manipulator.First,the differential matrix method is used to establish the pose error model under the influence of the DH parameter error,the joint gap error and the flexible deformation error;then the Monte Carlo method is used to simulate and analyze the DH parameter error and the joint gap error in MATLAB to study the end position of the manipulator.The data characteristics of the attitude error distribution;finally,the sensitivity analysis of the connecting rod DH parameter error and the joint gap error is carried out to study the influence of the error on the attitude accuracy.(4)Analysis of the accuracy of dynamic motion of the manipulator.In ADAMS/View,perform kinematics simulation on the connecting rod size error,drive error,flexible deformation error and virtual prototype of the manipulator under the ideal state,compare the simulation results of each error with the simulation results under the ideal state,and analyze the errors The influence on the displacement,velocity and acceleration of the end of the manipulator. |
