[1]于凌涛,杨景,王岚,等.基于灵巧度的手术机械臂尺寸与结构优化[J].哈尔滨工程大学学报,2017,38(12):1943-1950.[doi:10.11990/jheu.201610046]
 YU Lingtao,YANG Jing,WANG Lan,et al.Dexterity-based optimization of dimension and structure for a surgical robot[J].hebgcdxxb,2017,38(12):1943-1950.[doi:10.11990/jheu.201610046]
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基于灵巧度的手术机械臂尺寸与结构优化(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
38
期数:
2017年12期
页码:
1943-1950
栏目:
出版日期:
2017-12-25

文章信息/Info

Title:
Dexterity-based optimization of dimension and structure for a surgical robot
作者:
于凌涛 杨景 王岚 汤泽旭 庄忠平
哈尔滨工程大学 机电工程学院, 黑龙江 哈尔滨 150001
Author(s):
YU Lingtao YANG Jing WANG Lan TANG Zexu ZHUANG Zhongping
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
关键词:
手术机械臂条件数综合灵巧度尺寸优化结构优化轻量化运动学综合性能
分类号:
TP24
DOI:
10.11990/jheu.201610046
文献标志码:
A
摘要:
为了通过优化机械臂的尺寸来提高其运动性能,提出了一种基于运动学综合性能指标的机构尺寸和结构的优化方法。通过分析手术机械臂运动学雅可比矩阵奇异值,建立了全域空间条件数均值与全域空间条件数波动值的综合灵巧度指标,对远心点调整机构的尺寸进行了优化。基于对关节结构的有限元分析,优化其结构,实现了机械臂的轻量化设计。优化结果显示:优化后机械臂远心点的工作空间仍满足手术操作的需求,综合灵巧度指标提高了14.8%,被动关节质量减少了21.9%,一阶固有频率和最大应力指标也都有所提高。优化结果很好地满足了微创手术对机械臂灵活性及轻量化的要求。

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备注/Memo

备注/Memo:
收稿日期:2016-10-13。
基金项目:黑龙江省自然科学基金项目(F2015034);中央高校基本科研业务费专项项目(HEUCFM170703).
作者简介:于凌涛(1977-),男,副教授;杨景(1989-),男,博士研究生.
通讯作者:杨景,E-mail:yangjing7005@163.com.
更新日期/Last Update: 2018-01-13