| 微创外科机器人夹持手操作力感知机构研究 |
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| 引用本文： | 张禹,高金龙,刘慧芳. 微创外科机器人夹持手操作力感知机构研究[J]. 机械工程与自动化, 2014, 0(5): 66-68 |
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| 作者姓名： | 张禹 高金龙 刘慧芳 |
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| 作者单位： | 沈阳工业大学机械学院,辽宁 沈阳110270 |
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| 基金项目： | 沈阳市科技创新项目（F13-297-1-00） |
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| 摘 要： | 针对微创手术机器人,研究设计了载有力感知功能的从手夹持手,介绍了夹持手末端柔顺机构力觉传感器的设计、驱动装置及驱动方式的选择,并基于ANSYS软件分析了微创手术机器人夹持手在夹持过程中传感器形变与受力的关系。仿真及分析结果表明传感器的形变与受力基本趋于线性关系,为进一步研究手术机器人夹持手的力感知与力反馈的控制奠定了基础。
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| 关 键 词： | 微创手术 柔顺机构 力感知 瞬态学分析 |
Force Sensing Technology of Slave Hand of Minimally Invasive Surgery Robot |
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| ZHANG Yu,GAO Jin-long,LIU Hui-fang. Force Sensing Technology of Slave Hand of Minimally Invasive Surgery Robot[J]. Mechanical Engineering & Automation, 2014, 0(5): 66-68 |
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| Authors: | ZHANG Yu GAO Jin-long LIU Hui-fang |
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| Affiliation: | (School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110270, China) |
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| Abstract: | On the basis of the research of minimally invasive surgery robot ,this paper presents the configuration design of the slave manipulator with the function of force sensing ,including the design of a compliant mechanism force sensor as the terminal parts of the clamping hand ,the choice of the drive unit and the drive mode .The relationship between the deformation of the sensor and the stress during the clamping process of the clamping hand is analyzed by ANSYS .The simulation and analysis results show that the relationship between deformation and stress of the sensor is basically a straight line .It has make the foundation for the further study on the control of the gripping force sensing and force feedback of surgical robot . |
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| Keywords: | minimally invasive surgery compliant mechanism force sensing transient dynamic analysis |
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