Configuration Design for 6-DOF Master Manipulator and Research on Spatial Trajectory Planning Simulation

Qingyun Wang; Lü Ning; Zhidong Liu; Junying Zhao; Wenshuang Chang

doi:10.16578/j.issn.1004.2539.2021.07.012

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Configuration Design for 6-DOF Master Manipulator and Research on Spatial Trajectory Planning Simulation

Design· Calculation | 更新时间：2022-11-10

- Configuration Design for 6-DOF Master Manipulator and Research on Spatial Trajectory Planning Simulation
- Journal of Mechanical Transmission Vol. 45, Issue 7, Pages: 82-87(2021)
- 作者机构：
  
  1.天津中德应用技术大学汽车与轨道交通学院，天津 300350
  2.天津理工大学中环信息学院机械工程系，天津 300380
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.07.012
  CLC：
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王青云,吕宁,刘志东等.6-DOF主操作手构型设计与空间轨迹规划仿真研究[J].机械传动,2021,45(07):82-87.

Wang Qingyun,Ning Lü,Liu Zhidong,et al.Configuration Design for 6-DOF Master Manipulator and Research on Spatial Trajectory Planning Simulation[J].Journal of Mechanical Transmission,2021,45(07):82-87.
王青云,吕宁,刘志东等.6-DOF主操作手构型设计与空间轨迹规划仿真研究[J].机械传动,2021,45(07):82-87. DOI： 10.16578/j.issn.1004.2539.2021.07.012.

Wang Qingyun,Ning Lü,Liu Zhidong,et al.Configuration Design for 6-DOF Master Manipulator and Research on Spatial Trajectory Planning Simulation[J].Journal of Mechanical Transmission,2021,45(07):82-87. DOI： 10.16578/j.issn.1004.2539.2021.07.012.

摘要

主操作手是微创外科手术机器人的关键组成部分，用于接收医生动作，并控制从操作手完成手术操作。在充分研究主操作手使用要求的基础上，分析了主操作手构型设计要求，完成了主操作手的构型设计。结合所设计主操作手的构型，应用Matlab Robotic Toolbox进行了空间运动轨迹规划仿真，得到主操作手关节位移、速度和加速度的变化曲线。结果表明，主操作手构型设计合理，运动平稳，为主操作手的进一步设计与优化奠定了理论基础。

Abstract

The master manipulator is an important part for minimally invasive surgical （MIS）robot. It is used to receive the doctor action and control the slave operator to complete the surgical operation. Based on analysis of the application requirements of the master manipulator that is already existed，the configuration design requirements of the master manipulator are analyzed，and the configuration design of the master manipulator is completed. The trajectory planning simulation of the master manipulator in joint space is also carried out，and the displacement，velocity and acceleration curves of the master manipulator joint are obtained. The simulation results show that，the configuration design of the master manipulator is reasonable，and the master manipulator moves smoothly，which lays a theoretical foundation of the further design and optimization for the master manipulator.

关键词

主操作手构型设计轨迹规划

Keywords

Master manipulatorConfiguration designTrajectory planning

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