Developing of Auxiliary Mechanical Arm to Color Doppler Ultrasound Detection

摘要

A Color Doppler Ultrasound-test auxiliary mechanical arm was developed in order to reduce the labor intensity of doctors using Color Doppler Ultrasound technique, by reducing the requests on the operator. In this study, first of all, functional requirements of the Color Doppler Ultrasound detection auxiliary mechanical arm are being analyzed, and then the design of the mechanical arm is carried out, and finally the use of ADAMS software for the simulation of the mechanical arm simulation analysis. The results show that by installation of 9 force sensors between the ultrasonic probe and the end effector, the contact state between the ultrasonic probe and the human body can be better detected. The joint is subjected to more force at start-up, especially the joint position. The stress state of the mechanical arm can be improved by adjusting the start-up duration and reducing the acceleration at start.