一种医疗机器人主操作手的设计与运动学仿真

An analysis of the design and work space of the master manipulator ofa medical machineAbstractIn recent years,with the development of science and technology,minimally invasive surgeryhas become the standard of foreign science and the higher state of the surgical industry.As a result,surgery underwent a transition from open surgery to minimally invasive surgery.The etemal rhythmof medical development is that,while healing the pain for the patient,it minimizes the medicaltrauma.The microsurgical robot was developed in this environment,and gradually became thepeople's field of view.The doctor's direct control of the "interface"for medical robots is the mainoperator,and the main operator is an important human-computer interaction device.During surgery,the doctor always by operating the main operator to control the manipulator using the equipmentrequired for operation and,therefore.the main operator of the performance will directly influencethe effect of the surgery.It is of great significance to promote the application of medical robots in themedical field.The main content of this article is as follows:First of all,according to the doctor in the process of open surgical hand operatingcharacteristics and the working space,to get the master manipulator design criteria andperformance indicators,so as to complete the structure of master manipulator design.Then,themethod of d-h is applied to solve the positive kinematics of the main operators,and the kinematicssimulation and the work space analysis are carried out.Finally,to complete the structure design ofthe main operator to solve various joint power how to pass in small,narrow space,wiretransmission design problems such as tension,and complete the master manipulator detailed 3 dpart drawing and assembly drawing.Key Words Medical robots;The main operator;Kinematics analysis;Organizationdesign;The workspace