Design and Analysis of a Novel Micromanipulation Robot Mechanism

Sun Jianhua; Gu Hai; Zhang Jie; Li Bin

doi:10.16578/j.issn.1004.2539.2018.11.012

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Design and Analysis of a Novel Micromanipulation Robot Mechanism

更新时间：2022-10-20

- Design and Analysis of a Novel Micromanipulation Robot Mechanism
- Vol. 42, Issue 11, Pages: 67-71(2018)
- 作者机构：
  
  1. 南通理工学院机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.11.012
  CLC：
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[1]孙健华,顾海,张捷,李彬.一种新型微操作机器人机构的设计分析[J].机械传动,2018,42(11):67-71.

Sun Jianhua, Gu Hai, Zhang Jie, et al. Design and Analysis of a Novel Micromanipulation Robot Mechanism. [J]. 42(11):67-71(2018)
[1]孙健华,顾海,张捷,李彬.一种新型微操作机器人机构的设计分析[J].机械传动,2018,42(11):67-71. DOI： 10.16578/j.issn.1004.2539.2018.11.012.

Sun Jianhua, Gu Hai, Zhang Jie, et al. Design and Analysis of a Novel Micromanipulation Robot Mechanism. [J]. 42(11):67-71(2018) DOI： 10.16578/j.issn.1004.2539.2018.11.012.

摘要

当前在微操作领域,应用于细胞及更小单位的基因组织手术逐渐普遍,但其局限性在于缺乏优良的显微操作装备。基于此,提出一种可应用于显微操作的三转两移5自由度混联机器人机构。运用约束螺旋方法对机构展开了自由度分析;通过机构的几何约束关系求得机构的位置正反解,基于正反解得到机构的雅可比矩阵,证明了机构的非耦合特性;最后建立了机构的运动学模型,通过Matlab建立机构虚拟样机模型并仿真,得到机构末端的线性位移和角速度输出图像,验证了理论分析的正确性,为机构的实践应用提供了理论基础。

Abstract

At present,microsurgery is applied widely in cells and smaller units of gene tissue surgery,but its limitation lies in the lack of excellent micromanipulation equipment. Therefore,a hybrid robot mechanism for micromanipulation with three translation and two rotation of five degrees of freedom （DOF） is presented. Firstly,the mobility and motion feature of this 5-DOF mechanism is analyzed with the constraint screw method.Then the inverse and forward displacement problems of the proposed hybrid mechanism are solved according to the geometrical relationship,and the Jacobian matrix of the mechanism is obtained based on the forward and inverse solution,the decoupled feature of the proposed parallel mechanism is validated. Finally,the kinematics models of the mechanism are established,the virtual prototype model of the mechanism is established and simulated by Matlab,the linear displacements and angular velocities output image of the mechanism are obtained,the correctness of the theoretical analysis is verified and established,the theoretical foundation for its further applications is provided.

关键词

微操作五自由度机器人机构运动学

Keywords

MicromanipulationFive degree-of-freedomRobot mechanismKinematics

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