| 遥操作插管手术机器人灵活度分析 |
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| 引用本文： | 李辉,宁袆.遥操作插管手术机器人灵活度分析[J].机械传动,2011,35(5):9-12,15. |
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| 作者姓名： | 李辉 宁袆 |
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| 作者单位： | 1. 河南工程学院机械工程系,河南郑州,451191
2. 河南工业大学电气工程学院,河南郑州,450052 |
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| 摘 要： | 提出一种双臂各六自由度插管手术机械人结构,通过对其进行运动学正解算和逆解算,进行机构灵活度分析.通过Matlab仿真灵活度曲线,确定机器人结构参数,并给出机器人工作的灵活工作空间.
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| 关 键 词： | 插管手术 逆解算 灵活度 仿真 |
Flexibility Analysis of Teleoperation Intubation Surgical Robot |
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| Li Hui,Ning Yi.Flexibility Analysis of Teleoperation Intubation Surgical Robot[J].Journal of Mechanical Transmission,2011,35(5):9-12,15. |
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| Authors: | Li Hui Ning Yi |
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| Affiliation: | Li Hui1 Ning Yi2(1 Department of Mechanical,Henan Institute of Engineering,Zhengzhou 451191,China)(2 College of Electrical Engineering,Henan University of Technology,Zhengzhou 450052,China) |
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| Abstract: | A intubation surgical robot of two arms of six degrees of freedom is presented.Through kinematics solutions calculating and inverse calculating,the analysis of mechanical flexibility is carried out.Through Matlab simulation,the flexibility curve is obtained,the robot structure parameters are determined,and the robot flexible working space is given. |
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| Keywords: | Intubation surgical Inverse calculating Flexibility Simulation |
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