| 基于微创外科手术机器人操作手的夹持灵活度研究 |
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| 引用本文： | 张立勋,于凌涛,赵继亮,夏振涛. 基于微创外科手术机器人操作手的夹持灵活度研究[J]. 机器人, 2009, 31(3): 1 |
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| 作者姓名： | 张立勋 于凌涛 赵继亮 夏振涛 |
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| 作者单位： | 哈尔滨工程大学机电工程学院,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家博士后科学基金，哈尔滨工程大学基础研究启动基金 |
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| 摘 要： | 为了反映外科手术机器人六自由度操作手的指尖在夹持点对物体的夹持能力，分析了夹持时指尖的姿态、夹持物的姿态及两者的关系．推导了指尖在夹持点对处于任意姿态的物体进行夹持时所需姿态的解析表达式，并借助姿态球给出了夹持灵活度的定义．研究了本机构工作空间中离散点的夹持灵活度，确定了指尖夹持的灵活空间，并通过SimMechanics进行了仿真验证．
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| 关 键 词： | 微创外科 医疗机器人 6自由度操作手 夹持灵活度 |
On Clamping Dexterity of Minimally Invasive Surgical Robot Manipulator |
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| ZHANG Li-xun,YU Ling-tao,ZHAO Ji-liang,XIA Zhen-tao. On Clamping Dexterity of Minimally Invasive Surgical Robot Manipulator[J]. Robot, 2009, 31(3): 1 |
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| Authors: | ZHANG Li-xun YU Ling-tao ZHAO Ji-liang XIA Zhen-tao |
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| Affiliation: | College of Mechanical and Electrical Engineering;Harbin Engineering University;Harbin 150001;China |
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| Abstract: | In order to show the clamping ability of the 6-DOF manipulator fingertip of minimally invasive surgical robot at the clamping point,the fingertip posture,the object gesture and the relations between them during clamping are analyzed. The analytic expression of the fingertip gesture is deduced when the fingertips clamp the object with random postures at a gripping point,and the clamping dexterity is defined with the pose sphere.Clamping dexterity of those discrete points in the workspace of the mechanism is ... |
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| Keywords: | minimally invasive surgery surgery robot 6-DOF manipulator clamping dexterity |
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