基于计算力矩法的骨折复位机器人系统仿真

Simulation of Fracture Reduction Robot Control System Based on Computational Torque Method

针对传统骨折复位手术存在的复位精度低,对抗肌张力时十分耗费医生体能等缺点,设计了一种基于并联机构的骨折复位机器人。利用Simulink工具箱搭建了运动学分析系统,对机构进行了逆运动学分析。基于运动学分析的结果,运用拉格朗日法建立了该骨折复位机器人的动力学模型,探究了平台位姿与关节驱动力及平台受力的关系。最后在关节空间中根据骨折复位机构的逆动力学模型建立了控制器。通过设定平台运动轨迹,观察控制各驱动杆需要的力及平台受力情况,验证了控制器设计的正确性及控制规律的有效性。上述研究为实际机器人控制器设计及控制系统开发提供了理论支持。

Considering the shortcomings of traditional fracture reduction surgery,such as low reset accuracy and great expenditure of physical energy against muscular tension,a fracture reduction robot based on parallel mechanism was designed.A kinematic analysis system was built using the Simulink toolbox,and the system was used to analyze the kinematic of the mechanism.Based on the results of kinematics analysis,the dynamic model of fracture reduction robot was established using Lagrange method,and the relationship between platform posture,joint driving force,and platform force was discussed.Finally,an inverse dynamic model controller for fracture reduction mechanism was established in joint space.By setting the trajectory of the platform,we observed the force required to control each drive rod and the force received by platform,and further verified the correctness of the controller design and effectiveness of control law.