基于D-H参数方法的微创手术机器人运动仿真研究

目的:为了更好地研究外科微创手术机器人的工作性能,提出一种基于D-H参数方法的机器人运动仿真研究方法。方法:通过分析机器人各关节的几何关系,建立其D-H参数模型,分别对机器人系统进行正运动学和逆运动学分析,利用Matlab软件中的Sim Mechanics模块对机器人机电系统进行建模和仿真实验。结果:仿真实验结果表明,末端执行机构的期望轨迹与实际轨迹基本一致,运动误差都在实际允许范围内,验证了机器人运动学仿真研究方法的正确性。结论:采用D-H参数方法对微创手术机器人进行运动学仿真分析具有很好的实用性和准确性,对外科手术机器人的精密设计和系统改进具有普遍的适用意义。

Research on kinematic simulation of minimally invasive surgical robot based on D-H methodology

Objective To study the performance of minimally invasive surgical robot, and to propose a robot motion simulation method based on D-H methodology. Methods By analyzing the geometric relationship of each robot joints, DH model was built for the robot analysis of forward kinematics and inverse kinematics. At last, Sim Mechanics module was used for the robot electromechanical system modeling and simulation. Results The desired trajectory of the actuator was consistent with the actual trajectory. With the actual motion errors within the acceptable range, the correctness of D-H model was well verified. Conclusion Using D-H methodology for the robot kinematics study and simulation is useful and proper which has universal significance for the sophisticated design and system improvement of surgical robot.