Study on Gravity Compensation of RCM Mechanism of Slave Manipulator

Baoping Ma; Fan Zhang; Zhaoying Zhang; Xun Zou; Guosheng Zhang

doi:10.16578/j.issn.1004.2539.2021.06.014

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Study on Gravity Compensation of RCM Mechanism of Slave Manipulator

Design· Calculation | 更新时间：2022-11-10

- Study on Gravity Compensation of RCM Mechanism of Slave Manipulator
- Journal of Mechanical Transmission Vol. 45, Issue 6, Pages: 90-95(2021)
- 作者机构：
  
  1.上海工程技术大学机械与汽车工程学院，上海 201620
  2.上海工程技术大学机器人智能控制实验室，上海 201620
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.06.014
  CLC：
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马保平,张帆,张召颖等.从操作手RCM机构重力补偿研究[J].机械传动,2021,45(06):90-95.

Ma Baoping,Zhang Fan,Zhang Zhaoying,et al.Study on Gravity Compensation of RCM Mechanism of Slave Manipulator[J].Journal of Mechanical Transmission,2021,45(06):90-95.
马保平,张帆,张召颖等.从操作手RCM机构重力补偿研究[J].机械传动,2021,45(06):90-95. DOI： 10.16578/j.issn.1004.2539.2021.06.014.

Ma Baoping,Zhang Fan,Zhang Zhaoying,et al.Study on Gravity Compensation of RCM Mechanism of Slave Manipulator[J].Journal of Mechanical Transmission,2021,45(06):90-95. DOI： 10.16578/j.issn.1004.2539.2021.06.014.

摘要

为提高具有远程运动中心（RCM）的内窥镜手术机器人从操作手的定位精度和运动稳定性，对从操作手进行动力学等效，得出构件的等效质心位置，采用拉簧-绳轮对机械臂进行重力补偿；再根据拉格朗日方程建立从操作手RCM机构的动力学模型，采用计算力矩法进行重力补偿。通过Adams对比分析了经重力补偿后从操作手各个关节的运动响应曲线。结果表明，重力补偿模型可有效补偿重力项。

Abstract

In order to improve the positioning accuracy and motion stability of endoscopy surgery robot with remote motion center (RCM) of slave manipulator，the equivalent centroid position of the component is obtained by dynamic equivalence of slave manipulator，and the gravity compensation of the manipulator is carried out by the pull spring-rope wheel. Then the dynamic model of RCM mechanism from the slave manipulator is established according to the Lagrange equation，and the gravity compensation is carried out by the method of calculating moment. By comparing and analyzing the motion response curves of each joint of the manipulator after gravity compensation with Adams，it shows that gravity compensation model can effectively compensate gravity items.

关键词

RCM机构重力补偿计算力矩法拉格朗日方程

Keywords

RCM mechanismGravity compensationCalculation moment methodLagrange equation

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