The Design And Optimization Of The Second Manipulating Arm's Structure In Microsurgery Robot

In the study of the microsurgical robot, the author participated in the optimal design of the structure of microsurgical robot's second manipulation hand. The selection of robot's structural parameter has important effects on the working space of robot's mechanical hand, and the working space of robot is the key index for the performance of robot. First, the thesis expounded the current developing status of blood vessel microsurgical robot around the world. Second, according to the theory of space mechanism and the theory of robot mechanism, based on the working principle analysis of the microsurgical robot's second manipulation hand, the author set up the mechanical model of the robot's second manipulation hand, and the mechanical homogeneous coordinate, then the author derived the transformation matrix and position equation of the mechanical model. By using the structural parameter and position equation of the mechanical model, the author determined the operation range of the mechanical ending and drew its working space. Finally, the author set up optimal design's mathematical model of the structure of microsurgical robot's second manipulation hand. By using the MATLAB software, the author obtained the optimal parameters in the design of the robot's second manipulation hand.