五自由度医疗机械臂的运动学分析及工作空间的求解

Kinematics analysis and working space solution of five-degree-of-freedom medical manipulator

目的针对现阶段宫颈癌检测主要依赖于人工检测,导致费时费力等问题,特设计一种具有五自由度的医疗机械臂来辅助医生进行检测.方法通过Solidoworks三维软件对其进行建模,并采用D-H参数法对其进行正逆运动学分析,然后采用Matlab中的Robotics工具箱对该机械臂进行正逆运动学仿真,最后基于蒙特卡洛法在Matlab中对该医疗机械臂进行工作空间上仿真.结果利用Matlab仿真得出的结果表明理论推导的函数对该模型适用,同时利用Matlab在工作空间上仿真得出的结果表明,该机械臂各个部位设计合理,可以满足工作需要.结论通过理论推导与仿真该机械臂设计合理,同时为后续该机械臂的轨迹规划和控制系统提供了强有力的保障.

Objective Aiming at the current stage of cervical cancer detection that mainly relies on manual detection,which causes time-consuming and labor-intensive problems,a medical robotic arm with five degrees of freedom is specially designed to assist doctors in the detection.Methods The Solidoworks three-dimensional software was used to model it,and the forward and inverse kinematics analysis was carried out by the DH parameter method,and then the Robotics toolbox in Matlab was used to simulate the forward and inverse kinematics of the manipulator,and finally based on the Monte Carlo method.The medical robot arm is simulated in the workspace in Matlab.Results The results obtained by using Matlab simulation show that the theoretically deduced function is suitable for the model.At the same time,the results obtained by using Matlab simulation on the working space show that the design of each part of the manipulator is reasonable and can meet the needs of the work.Conclusion Through theoretical deduction and simulation,the design of the manipulator is reasonable,and at the same time,it provides a strong guarantee for the follow-up trajectory planning and control system of the manipulator.