本文選題：微創(chuàng)手術(shù) + 運(yùn)動(dòng)學(xué)　； 參考：《浙江理工大學(xué)》2017年碩士論文

【摘要】：微創(chuàng)手術(shù)機(jī)器人的發(fā)展有效地拓展了手術(shù)醫(yī)生的能力,提升了手術(shù)質(zhì)量,減輕了病人的痛苦,目前已成為研究熱點(diǎn)。微創(chuàng)手術(shù)機(jī)器人的結(jié)構(gòu)設(shè)計(jì)是否合理,將直接影響該機(jī)構(gòu)的靈活性、普適性及控制精度。本文提出一種新型的2-PURR-PUR并聯(lián)機(jī)構(gòu),并對(duì)其進(jìn)行運(yùn)動(dòng)學(xué)分析、奇異性分析、性能分析、尺寸優(yōu)化及樣機(jī)設(shè)計(jì),其主要內(nèi)容概括如下:建立2-PURR-PUR并聯(lián)機(jī)構(gòu)的簡(jiǎn)單模型,注明動(dòng)坐標(biāo)系、定坐標(biāo)系及相關(guān)參數(shù)。基于螺旋理論,對(duì)機(jī)構(gòu)的一般位型進(jìn)行自由度分析并用修正的G-K公式加以驗(yàn)證,得到該機(jī)構(gòu)具有兩個(gè)繞固定點(diǎn)的轉(zhuǎn)動(dòng)自由度和一個(gè)過固定點(diǎn)的移動(dòng)自由度。利用閉環(huán)矢量法對(duì)機(jī)構(gòu)進(jìn)行運(yùn)動(dòng)學(xué)分析,得到驅(qū)動(dòng)量與機(jī)構(gòu)動(dòng)平臺(tái)兩轉(zhuǎn)一移之間的反解表達(dá)式。對(duì)機(jī)構(gòu)的反解表達(dá)式求全微分,得到驅(qū)動(dòng)與動(dòng)平臺(tái)速度之間的關(guān)系式和雅克比矩陣。奇異性分析采用計(jì)算雅克比矩陣行列式的方法,得出該機(jī)構(gòu)只存在逆運(yùn)動(dòng)學(xué)奇異,不存在正運(yùn)動(dòng)學(xué)奇異或混合奇異。綜合考慮機(jī)構(gòu)桿長(zhǎng)限制、轉(zhuǎn)動(dòng)副轉(zhuǎn)角限制、桿件相互干涉、奇異位型等實(shí)際因素,利用數(shù)值搜索法求出機(jī)構(gòu)的可達(dá)工作空間。基于螺旋理論,以瞬時(shí)功為核心的運(yùn)動(dòng)/力傳遞性能指標(biāo)LTI和運(yùn)動(dòng)/力約束性能指標(biāo)TCI對(duì)2-PURR-PUR機(jī)構(gòu)進(jìn)行性能分析與評(píng)價(jià),并以GTW性能指標(biāo)作為目標(biāo)函數(shù)對(duì)機(jī)構(gòu)完成尺寸優(yōu)化。最后利用參數(shù)優(yōu)化得到的桿長(zhǎng)結(jié)果對(duì)機(jī)構(gòu)進(jìn)行樣機(jī)設(shè)計(jì)。本文研究工作有助于2-PURR-PUR機(jī)構(gòu)在醫(yī)療手術(shù)機(jī)器人領(lǐng)域的研究與開發(fā)。
[Abstract]:The development of minimally invasive surgery robot has effectively expanded the ability of surgeons, improved the quality of surgery, and alleviated the suffering of patients. Whether the structure design of minimally invasive surgical robot is reasonable or not will directly affect the flexibility, universality and control accuracy of the mechanism. In this paper, a new 2-PURR-PUR parallel mechanism is proposed, and the kinematics analysis, singularity analysis, performance analysis, dimension optimization and prototype design are carried out. The main contents are summarized as follows: the simple model of 2-PURR-PUR parallel mechanism is established and the dynamic coordinate system is indicated. Fixed coordinate system and related parameters. Based on the helical theory, the general position of the mechanism is analyzed and verified by the modified G-K formula. It is obtained that the mechanism has two rotational degrees of freedom around the fixed point and one moving degree of freedom over the fixed point. The closed-loop vector method is used to analyze the kinematics of the mechanism, and the inverse solution between the driving quantity and the moving platform is obtained. The total differential equation of the inverse solution of the mechanism is obtained, and the relation between the driving and the velocity of the moving platform and the Jacobian matrix are obtained. The method of calculating Jacobian matrix determinant is used in singularity analysis. It is concluded that there are only inverse kinematics singularities and no positive kinematic singularities or mixed singularities. Considering the practical factors such as the restriction of the length of the mechanism, the rotation angle of the rotating pair, the interference of the members and the singularities, the reachable workspace of the mechanism is obtained by using the numerical search method. Based on the helical theory, the performance of 2-PURR-PUR mechanism is analyzed and evaluated by LTI and TCI, which take instantaneous work as the core, and the GTW performance index is used as the objective function to optimize the performance of the mechanism. Finally, the prototype of the mechanism is designed by using the results of rod length obtained by parameter optimization. The research work in this paper is helpful to the research and development of 2-PURR-PUR in the field of medical surgical robot.
【學(xué)位授予單位】：浙江理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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本文編號(hào)：2025122