【作者】 李勇；

【导师】 张玉春；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2012， 硕士

【摘要】 近年来，机器人辅助腹腔镜手术技术不断发展，在医疗领域的优势日益凸显，已得到了社会的普遍关注。主操作手是机器人辅助腹腔镜手术系统中的重要组成部分，作为主从遥操作系统中的人机交互载体，其位姿识别精度、操作灵活性和有无力反馈直接影响手术的质量。因此，研究面向机器人辅助腹腔镜手术的主操作手对外科手术机器人乃至主从遥操作技术领域都具有重要意义。依据机器人辅助腹腔镜手术系统对主手的要求，确定了主手串并联式主从异构的构型方式，实现了位姿解耦，完成了主操作手7个运动自由度配置以及4自由度力反馈方案的设计。根据实现功能的不同，将主手分为并联Delta机构、串联冗余机构和夹持机构，完成了各部分结构的具体设计。主手的位姿识别以机构运动学为理论基础，依据空间矢量方程建立了主手并联机构的正、逆运动学关系，依据D-H方法计算了串联机构运动学正解。机构雅克比矩阵是进行主手灵巧度分析和静力学分析的基础，应用运动学方程求导法和矢量积法分别建立了并联机构和串联机构的雅克比矩阵，并以灵巧度指标和主手工作空间的需要为依据对主操作手进行了优化，提高了系统的操作性能。基于上述优化后的机构，应用有限元方法对主操作手的刚度进行了分析。以机构运动学为基础，依据拉格朗日方程，分别建立了并联机构和串联机构的重力补偿模型，确定了主手位姿与为实现机构自平衡所需要的各关节驱动力矩之间的对应关系，并利用ADAMS对模型进行了仿真验证。基于虚功原理，建立并联机构输出力与驱动力之间的静力学关系，并以此为理论基础完成力反馈算法设计。最后通过寻零、位姿识别、重力补偿和力反馈实验，验证了主手能实现主动寻零，具有较高的位姿检测精度，可实现位置和姿态的自平衡，力反馈效果良好。所设计的冗余机构可明显提高主手的灵巧度，机构重力补偿模型的建立不仅实现了主手自平衡，方便了医生操作，同时也为后续建立主手动力学补偿模型提供理论基础。更多还原

【Abstract】 In recent years, with the continuous development of robot-assisted laparoscopic surgical techniques, it has been increasingly prominent in the medical field and has gained widespread concern in society. The master manipulator is the important section of the robot-assisted laparoscopic surgical system. As the main part of the remote control system in the human-computer interaction, the recognition accuracy of the position and orientation, operational flexibility and force feedback performance directly affect the quality of the surgery. Therefore, the research on master manipulator has great significance for surgical robot, even the field of teleoperation technology.According to the requirement of robot-assisted laparoscopic surgery on the master hand, determine the series-parallel master-slave heterogeneous configuration approach to achieve the decoupling of the position and orientation. The design of the7degrees of freedom configuration and4degrees of freedom force feedback method are completed. Depending on difference of the functionality, the master hand is divided into parallel, series and clamping mechanisms. The specific design of each part has been completed. Kinematics is the theoretical basis of the position and posture recognition. Based on space vector equation, the forward and inverse kinematics relationship of the parallel mechanism is derived and the forward kinematics has been performed according to the D-H notation.Jacobi matrix is the basis of dexterity analysis and statics analysis. The Jacobi matrix is established according to kinematic equations derivation and vector product method. The parallel mechanism’s structural size is optimized with the dexterity index and the needs of the working space as the criteria. The singularity of the serial redundant mechanism is analyzed, improving the system’s operational performance. Based on the above optimized mechanism, the stiffness of the main hand has been analyzed.Based on the kinematics and Lagrangian equations, the gravity compensation models of parallel and serial mechanism are established, which establish the corresponding relationship between the position, orientation and joints’ driving torque of the master hand for realizing master manipulator’s self-balancing, and the models are simulated by ADAMS. Based on the principle of virtual work, the statics equations between the output torque and the driving torque of the parallel mechanism are established as the theoretical basis for the force feedback algorithm design.Finally, four experiments including initiative homing, gravity compensation, position and orientation recognition and force feedback have been done to verify that the master manipulator can achieve active homing, position-attitude self-balancing with a high position-orientation detection accuracy and fairish force feedback effects. The redundant mechanism can significantly improve the dexterity of the master manipulator. The gravity compensation model not only help to achieve the master manipulator’s self-balancing to facilitate the operation of doctors, but also to provide theoretical basis for the subsequent establishment of the master manipulator’s accurate kinetic compensation model.更多还原