摘要
从实际应用出发开发了一种用于检查肝胆腹部的医疗检测机器人。规划并设计了由7个转动关节构成的医疗机器人扫描臂的结构。根据机器人运动学原理推导出医疗机器人手臂空间运动学方程式,得到各杆臂相对基础坐标系的位置和姿态矩阵。根据实际情况预设各杆臂的长度和各关节的转角值,运用机器人运动学正解法求得机械臂前端的扫描范围。计算结果表明:在预设的参数下,医疗机器人采用7个纯转动关节联结机械臂可满足使用要求。同时,对于灵活工作空间较大的医疗机器人的设计提出了有效的规划方法。
The necessity and feasibility of exploiting a medical robot, to be used in the examination of symptoms in liver and gall or other ventral diseases was discussed first from the perspective of practical applications. The structural programming and the design of scanning arms of medical robot with seven running arms was also introduced. Based on the principles of robot kinematics, the kinematical equations of the robot arm space for medical services were derived, the positions of relevant basic coordinates and the posture matrices of various lever arms were obtained. As a result, in accordance with actual situations, the lengths of various lever arms and the corner values of various joints were preinstalled, and the scanning area of front-end of the mechanical arms was obtained using robot forward kinematics. According to the computation results, it was concluded that with the preinstalled parameters, the medical robot may satisfy the operation requirements when adopting seven pure rotation joints connecting the mechanical arms. So, a valid method for the programming and designof a medical robot available for more agile and spacious working demand was proposed.
出处
《北京石油化工学院学报》
2008年第3期1-4,共4页
Journal of Beijing Institute of Petrochemical Technology
基金
光机电装备技术北京市重点实验室开放课题基金资助项目
项目号:KF2007-06
关键词
医疗机器人
扫描臂
机械臂
关节型
medical robot
scanning arms
mechanical arms
joint-mode
