【作者】 王辉；

【导师】 王树新；

【作者基本信息】 天津大学 ， 机械电子工程， 2004， 硕士

【摘要】 基于人机工程学中触觉和力反馈的相关知识,针对显微外科机器人中带力反馈的主操作手进行了设计、分析和研究。根据不同RAMS系统的设计要求,确定相应的主操作手形式,包括笛卡儿坐标式RAMS主操作手和关节式RAMS主操作手PHANToM,并进行运动学分析,得出运动学正解和雅可比矩阵。建立了笛卡儿坐标式RAMS主操作手的虚拟样机模型,同时进行了动力学仿真分析和结构优化。对笛卡儿坐标式RAMS主操作手的具体结构进行了详细的阐述,并对关节式RAMS主操作手PHANToM进行了简单的结构介绍。在笛卡儿坐标式RAMS主操作手实物模型的基础上,进行相关实验,并采用人机工程学的相关理论作为标准评价,验证方案的合理性。 对人机工程学中操作特性和力反馈特性进行分析和研究,包括人体触觉、人手操作、人体关于力和运动的控制等,阐述了机器人主操作手的四种主要结构形式,提出了主操作手的一般设计流程。根据RAMS系统的要求和功能,决定系统采用的主操作手,包括笛卡儿坐标式RAMS主操作手和关节式RAMS主操作手PHANToM。阐述了以旋量理论为基础的医疗机器人主操作手运动学基本理论,运用该理论对两种显微外科手术机器人的主操作手,笛卡儿坐标式RAMS主操作手和PHANToM Desktop,进行相关运动学分析,建立了运动学正解方程和雅可比矩阵根据设计需要,确定笛卡儿坐标式RAMS主操作手的基本结构和原理。以此机构为基础,通过仿真软件ADAMS,建立了虚拟样机模型,并进行动力学仿真和结构优化。在优化模型的基础上,设计出笛卡儿坐标式RAMS主操作手的具体结构。对关节式RAMS主操作手,美国Sensable公司的三维力反馈主操作手PHANToM Desktop的结构,进行了简单的介绍。针对笛卡儿坐标式RAMS主操作手,进行测试实验。这包括直线副运动实验、竖直方向重力平衡实验、力反馈相关实验等。将实验数据和仿真数据进行比较,并以人机工程学的相关数据作为衡量标准进行验证。更多还原

【Abstract】 Based on the relevant knowledge of Haptics and force feedback of ergonomics, design of Haptic Master Manipulator in Microsurgery Robot System is analyzed and researched. The form of corresponding Master Manipulator is decided by the different kinds of RAMS system, including Cartesian Coordinate RAMS Master Manipulator and Articular RAMS Master Manipulator. The kinetic analysis of them is done and the forward kinematics and the spatial Jacobian Matrix of them are set up. Virtual sample model of Cartesian Coordinate RAMS Master Manipulator is set up and the dynamic simulation and structure optimization of it is discussed. The detailed structure of Cartesian Coordinate RAMS Master Manipulator is stated and the concise structure of PHANToM Desktop is introduced. The relevant experiments of Cartesian Coordinate RAMS Master Manipulator are done and the experiment results are evaluated by standard of the useful data from ergonomics. The forms of Master Manipulator are determined by the corresponding kind of RAMS system. The theory of robot kinematics based on the theory of screws is introduced. The kinetic analysis is done and the forward kinematics and the spatial Jacobian Matrix are set up.The knowledge of Ergonomic is discussed and four main kinds of Master Manipulator, according to the structure style, are introduced. The design flow chart of haptic master manipulator is presented.The fundamental structure and principle of Cartesian Coordinate RAMS Master Manipulator is decided according to the design requirements. The model of it is set up by simulation software. The dynamic simulation is discussed. The detailed structure is presented .The overall structure of PhANToM Desktop is introduced.The experiments of two kinds of master manipulator are done. The result data is compared with the simulation data and the rationality is justified by the knowledge of ergonomics.更多还原