基于李代数的医学穿刺机器人运动学建模

摘要

The structure of the Medical puncture robot includes the joints of shoulder ,elbow , w rist and the puncture needles .In order to verify the kinematic model of the medical robot based on Lie algebra ,the Lie algebra method of medical robot was built based on the traditional way of D-H .The simulation experiments have been carried out to verify the correction of the model . This research was an exploratory verification to the kinematic model of robots , which will provide some references for the robot trajectory planning as well as the dynamic and static charac-teristics .%医学穿刺机器人结构主要包括肩关节、肘关节、腕关节以及穿刺针等部分。为了验证医学穿刺机器人李群运动学模型，在传统运动学建模DH法的基出上，建立了基于李群李代数理论的机器人运动学模型，并进行仿真实验验证，研究结果证明模型的正确性，对机器人运动学建模进行了探索性验证，同时对机器人的轨迹规划及动、静态特性提供了一定的参考。