【作者】 杨文明；

【导师】 赵臣；

【作者基本信息】 天津大学 ， 机械电子工程， 2008， 硕士

【摘要】 本文主要根据主从操作手术机器人的运动匹配需要,研究具有力感觉的通用型手术机器人主手精度问题,以为高性能主从操作手术机器人精度设计提供理论依据。文中首先运用D-H方法建立了PHANToM主手机器人、Da Vinci手术机器人系统从手、BH600神经外科手术机器人和“妙手”手术机器人运动学模型。然后分析比较了几种通用的机器人末端位姿误差建模方法,决定采用摄动法对主从手术机器人进行误差建模。其次,分析了影响手术机器人末端执行器精度的各种因素,根据各种机器人的误差性质和误差的概率模型,对手术机器人关节误差对末端误差的影响程度进行模拟计算分析,并对结构参数误差和运动参数误差造成的位姿误差进行了对比分析,其结论可以为手术机器人主手的精度设计提供参考。最后,利用蒙特卡洛方法分析了主手和从手机器人的姿态误差在其工作空间内的分布状况,并用MATLAB计算了机器人末端误差值,绘制了主从手误差敏感方向分布图。通过比较不同主从手的误差分布差异和运动匹配性,讨论了在不同制造安装误差和元器件精度条件下,进一步减小主从手术机器人末端执行器误差的有效方法。更多还原

【Abstract】 This paper mainly researches the precision of universal surgical master hand with force sense according to the need of master-slave medical robot’s movement match situation, to provide design reference for the precision design of high performance master-slave surgical robot.Firstly, the kinematics models of the PHANToM master manipulator, Da Vinci surgical robot system BH600 neurosurgery robot and the“Microhand”laryngeal surgical robot are established by the D-H method. Then various error modeling methods of robot are compared, the error models of the master-slave manipulators are established separately using the perturbation way of the vector method.Secondly, the character of various robots’error and the errors’probability model are study. The factors that influence the errors of the end-effector of the master-slave robot are analyzed. Based on this the quantitative analysis contrast to the medical robot each joints error to the terminal end-effector error’s influence was made, and the error condition in the structural parameters error and motion parameters error are compared. The conclusion can instruct the precision design of Surgical Robot master manipulator.Finally, the thesis uses the Matlab to simulate the distribution states of the orientation errors of the master and slave manipulators in their workspace through the Monte Carlo Method, including the calculation and statistic of the end-effectors’orientation errors, and the distribution diagram of their orientation. Compare the orientation error distribution of different isomeric master-slave manipulators under conditions of different manufacturing accuracy instance and component device precision. Then further discussion about the effective ways to decrease the errors of the end-effector in the process of the master-slave operation is taken.更多还原