基于弹性变形和矢量叠加原理的新型整骨机器人变形误差分析

Analysis of Deformation Error of a Novel Fracture-resetting Robot Based on Elastic Deformation and Vector Superposition Principle

整骨机器人作为医疗智能化辅助装备,考虑到其作业对象的特殊性,结构设计在精度方面具有极高要求。针对一种新型的整骨机器人机械结构,分析了其静力学精度特性。首先确定其主要误差来源,建立了误差传递模型。然后根据几何关系和弹性变形理论对各个误差分别进行分析和研究,确定了影响误差值的结构参数与对应关系,并根据工程样机的具体数值计算出误差值。最后根据空间矢量叠加原理计算出整骨机器人末端最大变形位移,并与工程样机加载实验结果进行对比。结果表明,最大变形误差为0.63882 mm,与实验结果基本一致,满足偏差不超过2 mm、运动精度为±0.8 mm的定位和手术要求。为整骨机器人的结构参数设计和优化提供了理论基础。

Fracture-resetting robot,as a kind of intelligent auxiliary equipment for medical treatment,is highly required on precision in structural design,considering the particularity of its working object.The static accuracy character of the mechanical structure of a new kind of fracture-resetting robot was analyzed.Firstly,the error sources were ascertained and the error propagation model was established.Then each error was analyzed respectively based on the geometric relationship and elastic deformation theory.And the structural parameters affecting the value of those errors and their relationships were ascertained.Those errors were solved according to the parameters of the engineering prototype.Finally,the maximum displacement of the end part of the fracture-resetting robot was calculated out based on the space vector superposition principle and examined according to the loading test results of the engineering prototype.The maximum deformation error was 0.63882 mm and is in line with the test result basically.This means the positioning and surgical requirements of the fracture-resetting robot,the deviation of less than 2 mm and a motion accuracy of±0.8 mm,were fully met.This result could serve as a key theoretical basis for the design and optimization of structural parameters of fracture-resetting robot.