Study on the Analyzing and Simulating Method of Workspace of Force Reflecting Main Manipulator

Qu Jinxing; Feng Feng

doi:10.16578/j.issn.1004.2539.2016.07.011

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Study on the Analyzing and Simulating Method of Workspace of Force Reflecting Main Manipulator

更新时间：2022-10-20

- Study on the Analyzing and Simulating Method of Workspace of Force Reflecting Main Manipulator
- Vol. 40, Issue 7, Pages: 53-57(2016)
- 作者机构：
  
  1. 天津电子信息职业技术学院机电技术系
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.07.011
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[1]屈金星,冯丰.力反馈型主操作手工作空间分析与仿真方法研究[J].机械传动,2016,40(07):53-57+66.

Qu Jinxing, Feng Feng. Study on the Analyzing and Simulating Method of Workspace of Force Reflecting Main Manipulator. [J]. 40(7):53-57(2016)
[1]屈金星,冯丰.力反馈型主操作手工作空间分析与仿真方法研究[J].机械传动,2016,40(07):53-57+66. DOI： 10.16578/j.issn.1004.2539.2016.07.011.

Qu Jinxing, Feng Feng. Study on the Analyzing and Simulating Method of Workspace of Force Reflecting Main Manipulator. [J]. 40(7):53-57(2016) DOI： 10.16578/j.issn.1004.2539.2016.07.011.

摘要

主操作手工作空间代表了主操作手的活动范围,从几何方面讨论了主操作手的工作性能,它是衡量主操作手工作能力的一个重要的运动学指标,在主操作手的设计、控制与应用过程中,都需要考虑。通过主操作手正运动学解计算求得末端执行器空间位置与各关节变量之间的函数关系,在MATLAB中分别运用数值法、图解法以及解析法对主操作手的工作空间进行仿真;根据三维电磁跟踪系统采集的位置信息,通过定量与定性分析,验证求解主操作手工作空间仿真算法的正确性;最后根据所得工作空间形状体积,布局主操作手在操作台上的位置,同时,提出3种主操作手工作空间求解方法的特点及其应用场合,为主操作手运动学性能指标评价和术前手术规划奠定了基础。

Abstract

As a crucial kinematics index for main manipulator performance,the workspace needs to be considered in design,control and application,it represents the main manipulator action range,and the working performance of main manipulator is discussed from the aspects of geometry. The functional relationships between robotic end- effector space position and variables for robotic joints are obtained through the main manipulator forward kinematics solution calculation,a simulation of main manipulator workspace is conducted by adopting numerical,graphical method and analytic method in the Matlab. According to the position information of collecting by 3D electromagnetic tracking system,through the quantitative and qualitative analysis,the correctness of the simulation method for solving the main manipulator workspace is verified. Finally,according to the shape volume of workspace,the location layout of the main manipulator on the operation table is decided,meanwhile,meanwhile,the characteristics and applications of the three kinds of main manipulator workspace solving methods are given,a basis for the kinematics performance index evaluation and preoperation surgical planning is provided.

关键词

MATLAB主操作手手术机器人工作空间数值法解析法图解法

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