基于MATLAB的主操作手运动学分析及仿真

摘要

为实现对泌尿外科微创手术机器人的远程操作,给出一种用于位姿定位的主操作手结构.首先,根据手术任务确定主操作手的运动形式和自由度;其次,采用改进的D-H法建立主操作手的运动学模型,分析其正、逆运动学和轨迹规划问题;最后,运用MATLAB软件对其进行运动学建模和仿真,得到主操作手的关节位移、关节速度、关节加速度随时间的变化曲线.结果验证了运动学模型的正确性和主操作手参数设计的合理性,为主操作手的进一步研制提供了理论基础.%In order to realize the remote operation of a minimally invasive surgical robot for urol-ogy,a master manipulator structure for position positioning is proposed.Firstly,the structural configuration and DOF of master manipulator are confirmed according to the surgical task.Sec-ondly,the kinematics model of the master manipulator is established with the improved D-H method and the problems of forward kinematics,inverse kinematics and trajectory planning are analyzed.Finally,the kinematics modeling and simulation are carried out by MATLAB soft-ware.The joint displacement,joint velocity and joint acceleration with time of master manipu-lator are obtained,which verify the correctness of the kinematics model and the rationality of the design parameters for master manipulator.A theoretical basis for further development of master manipulator is provided.