妙手_系统机械结构设计与优化

:10020446(2006)02015406*岳龙旺1,2,许天春1,贠今天1(1.,300072;2.,300161):,!!!.PhantomDesktop,..;.,Angeles.:IIII,.:;;;:TP24:BMechanismDesignandOptimizationforMicroHandSystemYUELongwang1,2,XUTianchun1,YUNJintian1(1.SchoolofMechanicalEngineering,TianjinUniversity,Tianjin300072,China;2.DepartmentofHandlingEquipment,MilitaryTrafficInstituteofPLA,Tianjin300161,China)Abstract:Inordertoassistthesurgeontoaccomplishmicrosurgerybetter,wedevelopanewmasterslaveisomerousmicrosurgeryroboticsystem,.ie.MicroHand.ThemastermanipulatorisPhantomDesktop,whichisacommercialrobotwithcomfortablemanipulability.Theslavemanipulatorisdevelopedbyourlab,whichisdesignedforthemicrosurgery.Theslavemanipulatorincludestwoparts:positionmechanismandorientationmechanism.Thepositionmechanismcanimplementkinematiccharacteristicsofdoublefourbarlinkagestructurebycabledriving,andtheorientationmechanismappliesthestructureofthreerotatingaxesintersectingatonepoint.Basedonthekinematicanalysisofthedoublefourbarlinkagemechanismandthekinematicconditioningindex,weoptimizethedoublefourbarlinkagemechanism.TheresultindicatesthatthesystemhasthemaximaldexteritywhenthefirstthreelinksofthedoublefourbarlinkagemechanismhaveequallengthandlinkIisperpendiculartolinkIII.Keywords:MicroHandsystem;microsurgicalrobot;cabledriving;mechanismoptimization1(Introduction),1mm.(40mm),,.,..[1~7],.,,,,,.,FDA[1,2].28220063机器人ROBOTVo.l28,No.2March,2006*:(50405018);(20030056030);(043184211).:2005-07-04,[3~7]..,.!!![8].PhantomDesktop[9],.,.,,.1Fig.1MicroHandsystem2(Designofslavemechanism),.,.,.2.1,(1,Z)(2,X),2.OP1,OP2..XOY,XOZ,YOZ.,40∀~50∀.,,40∀,XOZ1=2=40∀,XOY1=2=70∀.,20#20#20mm3.2Fig.2Workspaceanalysisofmicrosurgery2.2,40∀,,()3,3.3Fig.3Sketchmapoftheorientationstructure1,,,,60∀,.IVIII,90∀,XOZ1=2=40∀.IV,2=155282:arctg(sin2tg2)50∀,XOY1=2=70∀.2,1(360∀),3(60∀),(360∀).IVIII70∀,,,.2.3,.,,4.ABCDCDEF.,EFDCAB,AB,EF.,,5.4Fig.4Principleofdoublefourbarlinkage5Fig.5Sketchmapofthepositionmechanism40IIIV,.IIII.IIII,IIIV.,,,.6.DH.,,IIIIIIIVl1l2l3l4.6Fig.6Structureofthesinglemanipulator1DHTable1DHparametersofthepositionmechanismai(mm)idi(mm)!i1l100!12l200-!13l300!24l400-!2Ai-1i=ci-sicosi-1sisini-1i-1cisicicosi-1-cisini-1i-1si0sini-1cosi-1di0001T04=A01*A12*A23*A34=100l1+l4+l1c1+(l2-l1)c21+l3c2010l1s1+(l2-l1)s1c1+l3s200100001(1):si=sin!i,ci=cos!i.J=-(l2-l1)sin2!1-l1sin!1-l3sin!2(l2-l1)cos2!1+l1cos!1l3cos!2(2)3(Optimizationofmechanism),,..,..:15620063px=l1+l4+l1c1+(l2-l1)c21+l3c2py=l1s1+(l2-l1)s1c1+l3s2(3)(3),l4,.(3):p∃x=l1+l1c1+(l2-l1)c21+l3c2p∃y=l1s1+(l2-l1)s1c1+l3s2(4)(4)5,.,:,.l2=k21l1,l3=k31l1,(4):p∃x=l1(1+c1+(k21-1)c21+k31c2)p∃y=l1(s1+(k21-1)s1c1+k31s2)(5),Jk∃(J)=∀l/∀s[10~12].Angelesk(J)=∀s/∀l,VP[13].,..20#20#20mm,Z,(),l5=20/sin2.,,,...:,,3.Angelesk=∀s/∀l.∀s∀lJ.I1,IIIIIIk21k31.k21k31,,7.,XI!1,YIII!2,Zk=∀s/∀l.7k21k31Fig.7Surfaceofkaccordingtodifferentk21,k31157282:7,k21=01,k3101051015;k21=05,k31=01051015;k21=10,k31=01051015;k21=01k31=09,k21=03k31=07,k21=07k31=03,k21=09k31=01.:k21=10,k31=10,,,1..8k21=10,k31=10,!1!2.k=0,k=1.:!1=!2%n#(n=0,1),IIII,k=0,.!1=!2%n#/2(n=1,3),IIII,k=1,.8k21=k31=10k!1!2Fig.8Relationshipbetweenkand!1,!2whenk21=k31=19k21=01k31=09,!1-180-150-120-90-60-300306090120150,!2-180∀180∀,.k21k31.,10k21=1k31=1,,11k21=05k31=05,.3:k21=1k31=1,1.,,..12k21k31,,05,08.1k21=01,2k21=05,3k21=1,4k21=15,k31=01051015.:3k31=1.k21=1k31=1,.9k21=01k31=09Fig.9Curveofkwhenk21=01andk31=0910k21=1k31=1Fig.10Curveofkwhenk21=1andk31=1:1),IIIIII,k21=1k31=1.IV.158200632)IIII,1,!1-!2=#/2.(5),l1!1l2l3!2.,!1!2.IV.11k21=05k31=05Fig.11Curveofkwhenk21=05andk31=0512kFig.12Ratioofusableworkspacewithacertaink4(Conclusion),20#20#20mm3,40∀..,;,.Angeles,.(References)[1]TaylorRH,StoianoviciD.Medicalroboticsincomputerintegratedsurgery[J].IEEETransactionsonRoboticsandAutomation,2003,19(5):765-781.[2]IntuitiveSurgica,lInc.IntuitiveSurgical[EB/OL].,2005.[3]MitsuishiM,WatanabeT,NakanishiH,etal.Atelemicrosurgerysystemthatshowswhattheuserwantstosee[A].ProceedingsoftheIEEEInternationalWorkshoponRobotandHumanCommunication[C].NewYork,USA:IEEE,1995.237-246.[4]MitsuishiM,IizukaY,WatanabeH,etal,Remoteoperationofamicrosurgicalsystem[A].ProceedingsoftheIEEEInternationalConferenceonRoboticsandAutomation[C].Piscataway,USA:IEEE,1998.1013-1019.[5]MitsuishiM,TomisakiS,YoshidomeT,etal.Telemicrosurgerysystemwithintelligentuserinterface[A].ProceedingsoftheIEEEInternationalConferenceonRoboticsandAutomation[C].Piscataway,USA:IEEE,2000.1607-1614.[6]MitsuishiM,WarisawaS,TsudaT,etal.Remoteultrasounddiagnosticsystem[A].ProceedingsoftheIEEEInternationalConferenceonRoboticsandAutomation[C].Piscataway,USA:IEEE,2001.1567-1574.[7]IkutaK,YamamotoK,SasakiK.Developmentofremotemicrosurgeryrobotandnewsurgicalprocedurefordeepandnarrowspace[A].ProceedingsoftheIEEEInternationalConferenceonRoboticsandAutomation[C].Piscataway,USA:IEEE,2003.1103-1108.[8]WangSX,DingJN,YunJT,etal.Aroboticsystemwithforcefeedbackformicrosurgery[A].ProceedingsoftheIEEEInternationalConferenceonRoboticsandAutomation[C].Piscataway,USA:IEEE,2005.200-205.[9]SensableTechnologies,