| Medical robots is one of the important direction of research in the field of robotics, it not onlyproposed a new way of considering for traditional medical treatment, but also produced a positiverole in promoting the development of the technology of related fields, it has become a big potentialmarket emerging industry. This paper studies a6-DOF master robot, as follows:First of all, analyze the configuration of the master robot to meet the workspace as large aspossible. Determine its arm has three rotating joints, and the first joint is horizontal rotation, thesecond and the third joints are vertical rotation. Its wrist axis has three rotating joints which intersectat one point.Secondly, from a kinematic point of view, establish the master robot kinematics coordinatesystem based on the DH method, find the Forward Kinematics of the end implementing agencies,using homogeneous transformation matrix gives the solution of inverse kinematics, and analyze thefour groups inverse solution to obtain a set of optimal solutions. Meanwhile, analyze the velocityabout the robot to ensure the stability in its movement.Finally, analyze the workspace of the master robot through MATLAB. Establish the objectivefunction to get a larger workspace, and obtain the relationship between the distance, the rod lengthand the objective function value by MATLAB programming, thereby obtain the correspondingagencies parameters about optimized workspace and establish3D solid model of the master robot bySolidWorks. |
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