_妙手_系统机械结构设计与优化

:100220446(2006)022015420631,2,1,1(1.,300072;2.,300161):,.PhantomDesktop,..;.,Angeles.:IIII,.:;;;:TP24:BMechanismDesignandOptimizationforMicroHandSystemYUELong2wang1,2,XUTian2chun1,YUNJin2tian1(1.SchoolofMechanicalEngineering,TianjinUniversity,Tianjin300072,China;2.DepartmentofHandlingEquipment,MilitaryTrafficInstituteofPLA,Tianjin300161,China)Abstract:Inordertoassistthesurgeontoaccomplishmicro2surgerybetter,wedevelopanewmaster2slaveisomerousmi2cro2surgeryroboticsystem,i.e.MicroHand.ThemastermanipulatorisPhantomDesktop,whichisacommercialrobotwithcomfortablemanipulability.Theslavemanipulatorisdevelopedbyourlab,whichisdesignedforthemicro2surgery.Theslavemanipulatorincludestwoparts:positionmechanismandorientationmechanism.Thepositionmechanismcanim2plementkinematiccharacteristicsofdoublefour2barlinkagestructurebycabledriving,andtheorientationmechanismap2pliesthestructureofthreerotatingaxesintersectingatonepoint.Basedonthekinematicanalysisofthedoublefour2barlinkagemechanismandthekinematicconditioningindex,weoptimizethedoublefour2barlinkagemechanism.Theresultin2dicatesthatthesystemhasthemaximaldexteritywhenthefirstthreelinksofthedoublefour2barlinkagemechanismhavee2quallengthandlinkIisperpendiculartolinkIII.Keywords:MicroHandsystem;micro2surgicalrobot;cabledriving;mechanismoptimization1(Introduction),1mm.(40mm),,.,..[17],.,,,,,.,FDA[1,2].28220063ROBOTVol.28,No.2March,20063:(50405018);(20030056030);(043184211).:2005-07-04©1994-2006ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.,[37]..,.[8].PhantomDesktop[9],.,.,,.1Fig.1MicroHandsystem2(Designofslavemecha2nism),.,.,.2.1,(1,Z)(2,X),2.OP1,OP2..XOY,XOZ,YOZ.,4050.,,40,XOZ1=2=40,XOY1=2=70.,202020mm3.2Fig.2Workspaceanalysisofmicrosurgery2.2,40,,()3,3.3Fig.3Sketchmapoftheorientationstructure1,,,,60,.IVIII,90,XOZ1=2=40.IV,2=551282:©1994-2006ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(sin2tg2)50,XOY1=2=70.2,1(360),3(60),(360).IVIII70,,,.2.3,.,,4.ABCDCDEF.,EFDCAB,AB,EF.,,5.4Fig.4Principleofdoublefour2barlinkage5Fig.5Sketchmapofthepositionmechanism40IIIV,.IIII.IIII,IIIV.,,,.6.D2H.,,IIIIIIIVl1l2l3l4.6Fig.6Structureofthesinglemanipulator1D2HTable1D2Hparametersofthepositionmechanismai(mm)idi(mm)i1l10012l200-13l30024l400-2Ai-1i=ci-sicosi-1sisini-1i-1cisicicosi-1-cisini-1i-1si0sini-1cosi-1di0001T04=A013A123A233A34=100l1+l4+l1c1+(l2-l1)c21+l3c2010l1s1+(l2-l1)s1c1+l3s200100001(1):si=sini,ci=cosi.J=-(l2-l1)sin21-l1sin1-l3sin2(l2-l1)cos21+l1cos1l3cos2(2)3(Optimizationofmechanism),,..,..:65120063©1994-2006ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.=l1+l4+l1c1+(l2-l1)c21+l3c2py=l1s1+(l2-l1)s1c1+l3s2(3)(3),l4,.(3):px=l1+l1c1+(l2-l1)c21+l3c2py=l1s1+(l2-l1)s1c1+l3s2(4)(4)5,.,:,.l2=k21l1,l3=k31l1,(4):px=l1(1+c1+(k21-1)c21+k31c2)py=l1(s1+(k21-1)s1c1+k31s2)(5),Jk(J)=l/s[1012].Angelesk(J)=s/l,VP[13].,..202020mm,Z,(),l5=20/sin2.,,,...:,,3.Angelesk=s/l.slJ.I1,IIIIIIk21k31.k21k31,,7.,XI1,YIII2,Zk=s/l.7k21k31Fig.7Surfaceofkaccordingtodifferentk21,k31751282:©1994-2006ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.,k21=011,k31011015110115;k21=015,k31=011015110115;k21=110,k31=011015110115;k21=011k31=019,k21=013k31=017,k21=017k31=013,k21=019k31=011.:k21=110,k31=110,,,1..8k21=110,k31=110,12.k=0,k=1.:1=2n(n=0,1),IIII,k=0,.1=2n/2(n=1,3),IIII,k=1,.8k21=k31=110k12Fig.8Relationshipbetweenkand1,2whenk21=k31=19k21=011k31=019,1-180-150-120-90-60-300306090120150,2-180180,.k21k31.,10k21=1k31=1,,11k21=015k31=015,.3:k21=1k31=1,1.,,..12k21k31,,015,018.1k21=011,2k21=015,3k21=1,4k21=115,k31=011015110115.:3k31=1.k21=1k31=1,.9k21=011k31=019Fig.9Curveofkwhenk21=011andk31=01910k21=1k31=1Fig.10Curveofkwhenk21=1andk31=1:1),IIIIII,k21=1k31=1.IV.85120063©1994-2006ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.)IIII,1,1-2=/2.(5),l11l2l32.,12.IV.11k21=015k31=015Fig.11Curveofkwhenk21=015andk31=01512kFig.12Ratioofusableworkspacewithacertaink4(Conclusion),202020mm3,40..,;,.Angeles,.(References)[1]TaylorRH,StoianoviciD.Medicalroboticsincomputer2integratedsurgery[J].IEEETransactionsonRoboticsandAutomation,2003,19(5):765-781.[2]IntuitiveSurgical,Inc.IntuitiveSurgical[EB/OL].ht2tp://www.intuitivesurgical.com,2005.[3]MitsuishiM,WatanabeT,NakanishiH,etal.Atele2micro2surgerysystemthatshowswhattheuserwantstosee[A].ProceedingsoftheIEEEInternationalWorkshoponRobotandHumanCommunication[C].NewYork,USA:IEEE,1995.237-246.[4]MitsuishiM,IizukaY,WatanabeH,etal,Remoteoperationofamicro2surgicalsystem[A].ProceedingsoftheIEEEInternationalConferenceonRoboticsandAutomation[C].Piscataway,USA:IEEE,1998.1013-1019.[5]MitsuishiM,TomisakiS,YoshidomeT,etal.Tele2micro2surgerysystemwithintelligentuserinterface[A].ProceedingsoftheIEEEInternationalConferenceonRoboticsandAutomation[C].Piscat2away,USA:IEEE,2000.1607-1614.[6]MitsuishiM,WarisawaS,TsudaT,etal.Remoteultrasounddiag2nosticsystem[A].ProceedingsoftheIEEEInternationalConferenceonRoboticsandAutomation[C].Piscataw