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基于测量的人体前列腺会阴部操作空间和手术过程量化分析,研究了一种3-PCR并联式前列腺癌粒子植入机器人。对于这种对称少自由度并联机构作为位置调整机构,其运动学特性需要深入研究。采用封闭矢量法和Beout消元法建立3-PCR并联机构运动学正、逆运动学方程,通过数值计算验证了正、反解模型的正确性。利用MATLAB进行p点为空间旋量曲线时的运动学仿真,仿真结果表明机构具有较好的运动稳定性,便于实时控制。通过极限边界搜索法求解了该机构姿态为α=β=γ=0°下的工作空间,x=0时的YOZ工作空间截面为15 674 mm2能满足临床手术的要求。
Based on the measurement of human prostate perineal operation space and quantitative analysis of the surgical process, a 3-PCR parallel prostate cancer particle implantation robot was studied. For this symmetrical less-degree-of-freedom parallel mechanism as a position adjustment mechanism, its kinematics need further study. The closed-vector method and Beout elimination method were used to establish positive and inverse kinematics equations of 3-PCR parallel mechanism. The correctness of the forward and inverse models was verified by numerical calculation. The kinematics simulation of p-space spin-curve curve using MATLAB shows that the mechanism has better motion stability and is convenient for real-time control. The working space under the attitude of α = β = γ = 0 ° is solved by the limit boundary search method. The cross section of YOZ working space at x = 0 is 15 674 mm2, which can meet the requirements of clinical operation.