基于Mathematica的七自由度手术机器人运动学分析

A Kinematic Analysis of 7-DOF Surgical Robot Based on Mathematica

随着微创手术在临床上的广泛应用,手术机器人在外科手术领域得到了飞速发展。首先基于Mathematica对七自由度手术机器人进行建模,给出其D-H表,然后推导运动学正逆解及雅可比矩阵,并据此进行运动特性分析,最后通过运动学仿真模拟手术机器人的运动过程,对其运动学特性及工作空间进行了验证,保证了设计的可靠性,为其动力学研究打下了基础。

With the wide application of minimally invasive surgery in clinical medicine,surgical robot has developed rapidly in the field of surgery.A 7-DOF surgical robot is modeled based on Mathematica,and its D-H table is established.Normal and inverse kinematical solutions and the Jacobean matrix are thus deduced with movement characteristics analyzed.Finally,surgical robot' s movement process is simulated to verify its kinematical properties and working space,which ensures the reliability of the robot.The results are fundamental to the future dynamic analysis.