本文選題：單孔腔鏡手術(shù) + 連續(xù)型機(jī)械臂��； 參考：《哈爾濱工業(yè)大學(xué)》2016年博士論文

【摘要】：微創(chuàng)手術(shù)機(jī)器人呈現(xiàn)出的更微創(chuàng)、高精度、小型化、高集成化發(fā)展趨勢(shì),使微創(chuàng)手術(shù)機(jī)器人系統(tǒng)設(shè)計(jì)與集成難度加大,不可避免的要在機(jī)器人驅(qū)動(dòng)方式、關(guān)節(jié)與傳動(dòng)結(jié)構(gòu)設(shè)計(jì)上進(jìn)行創(chuàng)新;小型化、集成化的機(jī)器人創(chuàng)成和新型關(guān)節(jié)形式的引入增加了機(jī)器人系統(tǒng)設(shè)計(jì)、系統(tǒng)模型表達(dá)與優(yōu)化設(shè)計(jì)等關(guān)鍵技術(shù)的難度,這些問(wèn)題已經(jīng)成為目前醫(yī)療機(jī)器人領(lǐng)域的研究熱點(diǎn)和難點(diǎn)。本文結(jié)合國(guó)家自然基金項(xiàng)目,對(duì)面向單孔腔鏡手術(shù)的機(jī)械臂設(shè)計(jì),以及連續(xù)型機(jī)械臂設(shè)計(jì)、結(jié)構(gòu)優(yōu)化、力學(xué)模型、運(yùn)動(dòng)學(xué)模型以及驅(qū)動(dòng)遲滯模型等關(guān)鍵問(wèn)題進(jìn)行研究。針對(duì)單孔腔鏡手術(shù)的操作環(huán)境及操作方式,研制了面向單孔腔鏡手術(shù)的16自由度機(jī)械臂,設(shè)計(jì)了一種新型的切口式連續(xù)型結(jié)構(gòu),并采用多關(guān)節(jié)連續(xù)型結(jié)構(gòu)作為所設(shè)計(jì)手術(shù)機(jī)械臂的位置定位機(jī)構(gòu)。此外,設(shè)計(jì)了新型的鋼絲繩繞線輪組機(jī)構(gòu),研制出一種小型化、并能與連續(xù)型機(jī)械臂高度集成的4自由度擬人化手術(shù)器械。根據(jù)集成后的連續(xù)型機(jī)械臂和末端微器械的驅(qū)動(dòng)方式和關(guān)節(jié)布置方式,對(duì)關(guān)節(jié)間驅(qū)動(dòng)解耦模型進(jìn)行了研究,解決了連續(xù)型機(jī)械臂各關(guān)節(jié)間以及末端微器械關(guān)節(jié)間的驅(qū)動(dòng)耦合問(wèn)題。針對(duì)切口式連續(xù)型機(jī)械臂的非等曲率變形問(wèn)題,建立了一種基于Timoshenko梁模型的切口式連續(xù)型機(jī)械臂力學(xué)模型�；贏NSYS仿真分析的切口式連續(xù)型機(jī)械臂變形規(guī)律,建立了基于切口變形單元力學(xué)模型的連續(xù)型機(jī)械臂的整體力學(xué)模型,考慮了切口變形單元在變形過(guò)程中的相互耦合作用,及驅(qū)動(dòng)絲對(duì)機(jī)械臂側(cè)向作用力對(duì)機(jī)械臂整體形狀的影響。通過(guò)該力學(xué)模型能夠?qū)崿F(xiàn)驅(qū)動(dòng)空間的驅(qū)動(dòng)力和關(guān)節(jié)空間以及子關(guān)節(jié)空間關(guān)節(jié)角度的映射。對(duì)不同切口數(shù)量的連續(xù)型機(jī)械臂樣機(jī)進(jìn)行了彎曲實(shí)驗(yàn)研究,驗(yàn)證了所建立力學(xué)模型的有效性。針對(duì)連續(xù)型機(jī)械臂多冗余度特性對(duì)運(yùn)動(dòng)學(xué)模型求解造成的影響,建立了基于離散關(guān)節(jié)假設(shè)的切口式連續(xù)型機(jī)械臂運(yùn)動(dòng)學(xué)模型。根據(jù)機(jī)械臂的變形特性將整個(gè)機(jī)械臂進(jìn)行離散化處理,結(jié)合力學(xué)模型信息建立基于D-H方法的正運(yùn)動(dòng)學(xué)模型和基于擬合數(shù)據(jù)的逆運(yùn)動(dòng)學(xué)模型。解決了連續(xù)型多冗余度機(jī)器人正逆運(yùn)動(dòng)學(xué)求解問(wèn)題,利用原理樣機(jī)實(shí)驗(yàn)驗(yàn)證了運(yùn)動(dòng)學(xué)模型的正確性。在此基礎(chǔ)上,建立了考慮機(jī)械臂變形單元?jiǎng)偠刃阅芎蜋C(jī)械臂運(yùn)動(dòng)性能的切口式連續(xù)型機(jī)械臂優(yōu)化設(shè)計(jì)模型,采用NSGA-II遺傳算法對(duì)機(jī)械臂參數(shù)進(jìn)行了多目標(biāo)優(yōu)化求解,使機(jī)械臂的變形能力及運(yùn)動(dòng)性能能夠同時(shí)達(dá)到最優(yōu),仿真分析驗(yàn)證了參數(shù)優(yōu)化的有效性。針對(duì)鋼絲繩驅(qū)動(dòng)的切口式連續(xù)型機(jī)械臂在驅(qū)動(dòng)過(guò)程中存在的驅(qū)動(dòng)遲滯問(wèn)題,建立了一種基于非線性Bouc-Wen模型的連續(xù)型機(jī)械臂遲滯模型。首先分析了不同鋼絲繩預(yù)緊力下的連續(xù)型機(jī)械臂彎曲變形現(xiàn)象,對(duì)機(jī)械臂的遲滯特性進(jìn)行分析,建立了鋼絲繩驅(qū)動(dòng)連續(xù)型機(jī)械臂非線性遲滯模型。根據(jù)實(shí)驗(yàn)測(cè)得的機(jī)械臂變形數(shù)據(jù)對(duì)非線性遲滯模型進(jìn)行了參數(shù)辨識(shí),并對(duì)實(shí)驗(yàn)測(cè)得數(shù)據(jù)與Bouc-Wen模型仿真數(shù)據(jù)結(jié)果進(jìn)行對(duì)比,結(jié)果表明該模型能夠模擬連續(xù)型機(jī)械臂的非線性遲滯特性,為連續(xù)型機(jī)械臂的實(shí)時(shí)控制模型奠定了基礎(chǔ)。為驗(yàn)證所研制單孔腔鏡手術(shù)機(jī)械臂的功能性和操作性能,開(kāi)展了面向單孔腔鏡手術(shù)的16自由度機(jī)械臂實(shí)驗(yàn)研究。對(duì)連續(xù)型機(jī)械臂單關(guān)節(jié)、多關(guān)節(jié)聯(lián)合運(yùn)動(dòng)、雙臂聯(lián)合運(yùn)動(dòng)、機(jī)械臂關(guān)節(jié)解耦運(yùn)動(dòng)、機(jī)械臂重復(fù)定位精度及末端微器械機(jī)構(gòu)進(jìn)行了實(shí)驗(yàn)測(cè)試,實(shí)驗(yàn)驗(yàn)證了所研制機(jī)械臂具有空間定位能力、末端精細(xì)化操作能力和較好的靈活性。在腔鏡手術(shù)模擬器中開(kāi)展了16自由度機(jī)械臂操作實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果表明所研制的16自由度機(jī)械臂能夠?qū)崿F(xiàn)單臂和多臂協(xié)調(diào)操作功能,具有較高的操作性能及運(yùn)動(dòng)靈活性。
[Abstract]:The minimally invasive surgery robot presents a more minimally invasive, high-precision, miniaturized, and highly integrated development trend, making the design and integration of the minimally invasive surgical robot system more difficult. It is inevitable to innovate the robot driving mode, joint and transmission structure design, miniaturized, integrated robot creation and the introduction of new joint forms. The difficulty of the key technologies, such as robot system design, system model expression and optimization design, has become a hot and difficult problem in the field of medical robotics. This paper combines the national natural fund project, the design of the manipulator to the single hole mirror operation, the design of the continuous manipulator, the structure optimization and the mechanics. The key problems such as model, kinematics model and driving hysteresis model are studied. In view of the operating environment and operation mode of single hole endoscopic surgery, a 16 degree of freedom manipulator for single hole endoscopic surgery is developed. A new type of incisional continuous structure is designed and a multi joint continuous structure is used as the designed surgical arm. In addition, a new type of wire rope winding mechanism is designed, and a miniaturized and 4 degree of freedom anthropomorphic surgical instrument, which can be integrated with a continuous type manipulator, is developed. The decoupling model of the inter-joint drive is carried out according to the driving mode of the integrated continuous manipulator and the terminal micro device and the connection arrangement. The driving coupling problem between the joints of the continuous mechanical arm and the joint of the terminal micro device is solved. In view of the non ISO curvature deformation of the incisional continuous type manipulator, a mechanical model of the incisional continuous mechanical arm based on the Timoshenko beam model is established. The incisional continuous machine based on the simulation and analysis of the ANSYS is used. The mechanical model of the continuous mechanical arm based on the mechanical model of the incisional deformation unit is established. The interaction of the incisional deformation unit in the deformation process and the effect of the driving force on the overall shape of the manipulator on the manipulator arm are considered. The driving space can be driven through the mechanical model. The mapping of the force and joint space and the angle of the space joint of the subjoint. The bending experiment is carried out on the prototype of the continuous mechanical arm with different number of incisions, and the validity of the model is verified. In view of the influence of the multi redundancy characteristics of the continuous manipulator on the kinematics model, the discrete joint hypothesis is established. The kinematics model of the incisional continuous robot arm is discretized according to the deformation characteristics of the manipulator, and the forward kinematics model based on the D-H method and the inverse kinematics model based on the fitting data are set up based on the information of the mechanical model, and the problem of the forward and inverse kinematics of the continuous multi redundant robot is solved. The correctness of the kinematic model is verified by the prototype experiment. On this basis, an optimized design model of the incisional continuous mechanical arm, which considers the stiffness performance of the manipulator's deformation unit and the motion performance of the manipulator, is established. The NSGA-II genetic algorithm is used to optimize the parameters of the manipulator and make the deformation ability and movement of the manipulator. The performance can be achieved at the same time, and the effectiveness of the parameter optimization is verified by simulation analysis. In view of the driving delay of the incisional continuous type manipulator driven by wire rope, a nonlinear Bouc-Wen model based continuous mechanical arm hysteresis model is established. First, the pre tightening force of different wire rope is analyzed. The hysteresis characteristics of the manipulator are analyzed, and the nonlinear hysteresis model of the continuous type manipulator is established. The parameters of the nonlinear hysteresis model are identified according to the measured data of the manipulator deformation, and the data obtained from the experimental data and the results of the Bouc-Wen model simulation data are carried out. The results show that the model can simulate the nonlinear hysteresis characteristics of the continuous manipulator and lay the foundation for the real-time control model of the continuous type manipulator. In order to verify the function and operation performance of the single hole endoscopic surgery manipulator, the experimental study of the 16 degree of freedom manipulator for the single hole mirror operation is carried out. The arm single joint, joint movement of multiple joints, the joint motion of two arms, the decoupling motion of the arm joint, the precision of the repetitive positioning of the manipulator and the end micro device were tested. The experiment proved that the developed manipulator has the ability of space positioning, the fine operation ability and the better flexibility of the end. 1 The experimental results of a 6 degree of freedom manipulator show that the developed 16 degree of freedom manipulator can realize the coordinated operation of single arm and multi arm, and has high operating performance and motion flexibility.

【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP241

【相似文獻(xiàn)】

相關(guān)期刊論文 前10條

1 弓建軍;一種可伸縮空間機(jī)械臂及其應(yīng)用分析[J];航天控制;2000年04期

2 侯保林,樵軍謀,韓宏潮;一重載高速機(jī)械臂的結(jié)構(gòu)與控制同時(shí)設(shè)計(jì)[J];機(jī)械設(shè)計(jì);2004年01期

3 賈宏亮;姚瓊;黃強(qiáng);;基于質(zhì)量分配的空間機(jī)械臂剛度優(yōu)化[J];中國(guó)空間科學(xué)技術(shù);2008年03期

4 李斌;;月球車車載機(jī)械臂的研究進(jìn)展及關(guān)鍵技術(shù)探討[J];機(jī)器人技術(shù)與應(yīng)用;2008年03期

5 ;美大學(xué)研發(fā)腦波控制機(jī)械臂[J];機(jī)械研究與應(yīng)用;2009年01期

6 任美玲;陶大錦;;機(jī)械臂的研究與進(jìn)展[J];出國(guó)與就業(yè)(就業(yè)版);2012年02期

7 劉朋增;;基于移動(dòng)平臺(tái)的機(jī)械臂結(jié)構(gòu)分析與設(shè)計(jì)[J];企業(yè)導(dǎo)報(bào);2013年11期

8 ;手術(shù)用微型機(jī)械臂[J];機(jī)器人情報(bào);1994年01期

9 賀棚梓;;升級(jí)版加拿大機(jī)械臂[J];太空探索;2014年02期

10 張暢;唐立軍;吳定祥;賀慧勇;司妞;李濤;;六軸機(jī)械臂在冰箱能耗檢測(cè)線中的軌跡分析[J];電子科技;2014年04期

相關(guān)會(huì)議論文 前10條

1 王印超;賴小明;楊學(xué)寧;李建永;陳化智;陶建國(guó);;繩驅(qū)式表取采樣機(jī)械臂的設(shè)計(jì)研究[A];中國(guó)宇航學(xué)會(huì)深空探測(cè)技術(shù)專業(yè)委員會(huì)第九屆學(xué)術(shù)年會(huì)論文集（下冊(cè)）[C];2012年

2 張繼輝;;助力機(jī)械臂在汽車制造業(yè)中的應(yīng)用[A];第九屆河南省汽車工程技術(shù)研討會(huì)論文集[C];2012年

3 黃登峰;陳力;;基于雙向映射神經(jīng)元網(wǎng)絡(luò)的漂浮基空間機(jī)械臂逆運(yùn)動(dòng)學(xué)控制[A];慶祝中國(guó)力學(xué)學(xué)會(huì)成立50周年暨中國(guó)力學(xué)學(xué)會(huì)學(xué)術(shù)大會(huì)’2007論文摘要集（下）[C];2007年

4 陳瑞燕;梁輝;馮永;;用于深水水下設(shè)備下放安裝的多功能機(jī)械臂[A];第十三屆中國(guó)科協(xié)年會(huì)第13分會(huì)場(chǎng)-海洋工程裝備發(fā)展論壇論文集[C];2011年

5 朱華里;張芳;;電機(jī)控制下的一類彈性機(jī)械臂系統(tǒng)的鎮(zhèn)定[A];1996年中國(guó)控制會(huì)議論文集[C];1996年

6 鄭樺;叢爽;魏子翔;;提高實(shí)際繪圖精度與速度的二自由度機(jī)械臂控制[A];2007年中國(guó)智能自動(dòng)化會(huì)議論文集[C];2007年

7 劉達(dá);王田苗;張浩;;一種用于輔助外科手術(shù)的機(jī)械臂設(shè)計(jì)[A];第十二屆全國(guó)機(jī)構(gòu)學(xué)學(xué)術(shù)研討會(huì)論文集[C];2000年

8 韓清凱;張昊;高培鑫;劉金國(guó);;機(jī)械臂系統(tǒng)控制同步的非線性動(dòng)力學(xué)特性研究[A];第十四屆全國(guó)非線性振動(dòng)暨第十一屆全國(guó)非線性動(dòng)力學(xué)和運(yùn)動(dòng)穩(wěn)定性學(xué)術(shù)會(huì)議摘要集與會(huì)議議程[C];2013年

9 梁捷;陳力;;漂浮基空間機(jī)械臂姿態(tài)與末端抓手協(xié)調(diào)運(yùn)動(dòng)的模糊變結(jié)構(gòu)滑�？刂芠A];慶祝中國(guó)力學(xué)學(xué)會(huì)成立50周年暨中國(guó)力學(xué)學(xué)會(huì)學(xué)術(shù)大會(huì)’2007論文摘要集（下）[C];2007年

10 劉慶杰;許向陽(yáng);戴亞平;;基于機(jī)械臂轉(zhuǎn)速的遠(yuǎn)程廣義最小方差控制[A];全國(guó)煉鋼連鑄過(guò)程自動(dòng)化技術(shù)交流會(huì)論文集[C];2006年

相關(guān)重要報(bào)紙文章 前10條

1 ;“鳳凰”輕舒機(jī)械臂,火星留下第一痕[N];新華每日電訊;2008年

2 葛秋芳;科學(xué)家讓猴子憑“意念”操縱機(jī)械臂抓取食物[N];新華每日電訊;2008年

3 毛毛;瑞典開(kāi)發(fā)出不怕水的微型機(jī)械臂[N];中國(guó)高新技術(shù)產(chǎn)業(yè)導(dǎo)報(bào);2000年

4 ;瑞典開(kāi)發(fā)出不怕水的醫(yī)用微型機(jī)械臂[N];中國(guó)信息報(bào);2000年

5 王曉晨 潘晨;讓中國(guó)“臂”炫舞太空[N];中國(guó)航天報(bào);2012年

6 田兆運(yùn) 張曉祺;“玉兔號(hào)”:機(jī)械臂投放測(cè)試成功，，即將開(kāi)始休眠[N];新華每日電訊;2013年

7 通訊員 祁登峰 記者 付毅飛;“玉兔”機(jī)械臂成功實(shí)施首次科學(xué)探測(cè)[N];科技日?qǐng)?bào);2014年

8 子虎;未來(lái)做手術(shù)動(dòng)口不動(dòng)手[N];北京科技報(bào);2004年

9 張雪松;“衛(wèi)星抓衛(wèi)星”緣何有人不安[N];中國(guó)航天報(bào);2013年

10 ;連續(xù)式熔銅擠壓機(jī)械臂[N];中國(guó)有色金屬報(bào);2003年

相關(guān)博士學(xué)位論文 前10條

1 楊文龍;面向單孔腔鏡手術(shù)的連續(xù)型機(jī)械臂及其運(yùn)動(dòng)建模的研究[D];哈爾濱工業(yè)大學(xué);2016年

2 郭宇飛;不確定彈藥自動(dòng)裝填系統(tǒng)動(dòng)力學(xué)與控制研究[D];南京理工大學(xué);2015年

3 武遵;適用于核聚變反應(yīng)艙的多關(guān)節(jié)機(jī)械臂關(guān)鍵技術(shù)研究[D];中國(guó)科學(xué)技術(shù)大學(xué);2016年

4 江沛;復(fù)雜約束下的串聯(lián)機(jī)械臂運(yùn)動(dòng)學(xué)控制方法研究[D];浙江大學(xué);2015年

5 東輝;冗余機(jī)械臂運(yùn)動(dòng)學(xué)及移動(dòng)平臺(tái)航位推算和軌跡規(guī)劃研究[D];哈爾濱工業(yè)大學(xué);2015年

6 宋韜;輪式移動(dòng)機(jī)械臂傾覆與滑移問(wèn)題研究[D];上海大學(xué);2016年

7 黃水華;多約束下的機(jī)械臂運(yùn)動(dòng)控制算法研究[D];浙江大學(xué);2016年

8 王琨;提高串聯(lián)機(jī)械臂運(yùn)動(dòng)精度的關(guān)鍵技術(shù)研究[D];中國(guó)科學(xué)技術(shù)大學(xué);2013年

9 杜濱;全方位移動(dòng)機(jī)械臂協(xié)調(diào)規(guī)劃與控制[D];北京工業(yè)大學(xué);2013年

10 張鵬;機(jī)械臂協(xié)調(diào)操作柔性負(fù)載系統(tǒng)動(dòng)力學(xué)與控制[D];吉林大學(xué);2010年

相關(guān)碩士學(xué)位論文 前10條

1 龐征博;船舶大分段劃線機(jī)械臂控制技術(shù)研究[D];大連理工大學(xué);2012年

2 李彬;基于平行機(jī)構(gòu)的發(fā)動(dòng)機(jī)缸蓋螺栓擰緊機(jī)械臂的研發(fā)[D];華南理工大學(xué);2015年

3 劉彩鳳;不同重力環(huán)境下空間機(jī)械臂摩擦補(bǔ)償控制研究[D];燕山大學(xué);2015年

4 王海濱;基于TMS320F2812的一階機(jī)械臂控制系統(tǒng)的研究[D];東北林業(yè)大學(xué);2015年

5 賈召敏;排爆機(jī)械臂結(jié)構(gòu)設(shè)計(jì)與控制研究[D];南京理工大學(xué);2015年

6 張會(huì)會(huì);某機(jī)械臂液壓系統(tǒng)可靠性分析[D];南京理工大學(xué);2015年

7 吳誠(chéng)驍;托卡馬克腔特種環(huán)境下內(nèi)窺機(jī)械臂閉環(huán)主動(dòng)冷卻系統(tǒng)研究[D];上海交通大學(xué);2015年

8 林俐;托卡馬克柔性內(nèi)窺機(jī)械臂剛?cè)狁詈蟿?dòng)力學(xué)建模與仿真[D];上海交通大學(xué);2015年

9 謝廣慶;托卡馬克腔內(nèi)作業(yè)機(jī)械臂運(yùn)載車系統(tǒng)研究[D];上海交通大學(xué);2015年

10 岳宗帥;可重構(gòu)機(jī)械臂關(guān)節(jié)模塊控制器設(shè)計(jì)及運(yùn)動(dòng)控制研究[D];沈陽(yáng)理工大學(xué);2015年

本文編號(hào)：1886292