论文部分内容阅读
主操作手工作空间代表了主操作手的活动范围,从几何方面讨论了主操作手的工作性能,它是衡量主操作手工作能力的一个重要的运动学指标,在主操作手的设计、控制与应用过程中,都需要考虑。通过主操作手正运动学解计算求得末端执行器空间位置与各关节变量之间的函数关系,在MATLAB中分别运用数值法、图解法以及解析法对主操作手的工作空间进行仿真;根据三维电磁跟踪系统采集的位置信息,通过定量与定性分析,验证求解主操作手工作空间仿真算法的正确性;最后根据所得工作空间形状体积,布局主操作手在操作台上的位置,同时,提出3种主操作手工作空间求解方法的特点及其应用场合,为主操作手运动学性能指标评价和术前手术规划奠定了基础。
The master operator’s workspace represents the range of activity of the master operator, and discusses the performance of the master operator geometrically. It is an important kinematic indicator that measures the master’s ability to work. In the master operator’s design and control And the application process, need to be considered. The master operator’s kinematic solution is used to calculate the functional relationship between the end effector spatial position and each joint variable. Numerical simulation, graphical analysis and analytic method are respectively used to simulate the working space of master operator. Dimensional electromagnetic tracking system to collect the position information, through quantitative and qualitative analysis, verify the correctness of the simulation algorithm of the master operator’s workspace; Finally, according to the shape and volume of the resulting workspace layout master operator’s position on the console, at the same time, The characteristics and application situations of the three master manipulator workspace solutions laid the foundation for the evaluation of the main manipulator kinematic performance index and the preoperative surgical planning.