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针对临床上前列腺粒子植入常用的人体截石位操作方式,计算出一般患者截石位的机器人布局和可操作空间,研制了一种满足临床应用的悬臂关节式前列腺放射性粒子植入机器人.首先,为了改善机器人低速运动平稳性问题,研究了悬臂可变重力矩补偿机制,得到悬臂可变重力矩完全补偿的约束条件;其次,通过合理地配置弹簧的技术参数,设计了合适的大、小臂可变重力矩补偿装置;最后,完成了重力、重力矩补偿分配仿真试验和重力矩补偿性能定量评价试验.试验结果表明:设计的可变重力矩补偿装置能够实现悬臂在任意位置的完全平衡,改善了驱动扭矩幅值的波动,提高了粒子植入机器人操作的稳定性.
In view of the operation mode of human lithotomy commonly used in clinical prostatic grafting, a robot layout and operable space for general prostatic lithotomy were calculated, and a cantilevered articulated prostate radioactive particle implanting robot satisfying clinical application was developed. , In order to improve the stability of low-speed motion of robots, the paper studied the compensation mechanism of variable gravitational moment of cantilever, and obtained the constraint of complete compensation of variable gravitation moment of cantilever. Secondly, by designing the reasonable technical parameters of spring, Arm variable gravity moment compensation device.Finally, the simulation experiment of gravity and gravity moment compensation distribution and quantitative evaluation of gravity moment compensation performance are completed.The experimental results show that the designed variable moment compensation device can achieve the perfect balance of cantilever at any position , Which improves the fluctuation of the driving torque amplitude and improves the stability of the operation of the particle implanting robot.