手持式六自由度微操作器的设计

摘要

This paper aims at conducting an investigation in a medical micro-manipulator which is used to operate on the brain,eyeballs and heart of the patient,eliminate the flutter of the operator's hand and improve the accuracy.The machine design of the 6-SPS compliant parallel micro-manipulator is carried out.The bi-axial flexible hinge is used instead of the ball hinge.The parallel hinge mechanism is used to replace the flat hinge,and the size,function and characteristics of each part of the system are introduced.Then the kinematic analysis of the micro-manipulator is conducted,the rotation matrix between the static and dynamic coordinate systems is simplified,the kinematic inverse solution is completed and the inverse Jacobean matrix between the input and output of the micro-manipulator is obtained and then,its static deformation analysis and modal analysis are made by the use of ANSYS software,the output of the end effector under different input displacement is simulated and the modal analysis of the micro-manipulator and its dynamic characteristics are discussed.%研究一种基于柔顺机构的医用微操作器应用于大脑、眼球和心脏等高难度器官手术,消除手术操作者的手部颤振,提高手术的精确度和成功率.首先进行了6-SPS型柔顺并联微操作器的机械设计,选择了双轴柔性铰链替代球铰,用平行导向四杆柔顺机构替代平动铰链并介绍了系统各部分的尺寸、作用和特性.随后对微操作器进行了运动学分析,简化了动静坐标系之间的旋转变化矩阵并完成了运动学逆向求解,得到了微操作器输入输出的逆雅可比矩阵.最后基于ANSYS软件进行了微操作器的静变形分析和模态分析,得到了不同输入位移下的末端执行器的输出,通过模态分析得到了微操作器的前6阶固有频率和模态振型,并对其动态特性进行了探讨.