Design And Control Of A Jaw Medical Robot

In the modern society,with highly developed manufacturing industry,intelligent manufacturing equipment plays an extremely important role and has made great contributions to the development of manufacturing industry.Robot is a kind of high-end automation equipment,which is widely used in home service and industrial production and manufacturing.With the continuous improvement of robot performance,robot is gradually used in the field of medical and health.This paper designs a jaw medical device,which is used as an actuator to be placed at the end of the robotic arm for jaw repair surgery.In order to use this medical device as an executive mechanism of the mechanical arm in the operation of jaw lesion repair,a series of studies were conducted on the design and construction of the control system of the maxillary medical device mechanism and the construction and trajectory planning of the AUBO＿I5 robot kinematics model.In this paper,a medical instrument is designed to repair the jaw lesion area,which is mainly composed of rotating mechanism,propulsion mechanism,drill bit and other parts.Meanwhile,a surgical implementation plan is designed for the jaw-bone medical robot to repair the jaw lesion area.The collaborative manipulator AUBO＿I5 was selected to clamp the jawbone medical devices.In this paper,an improved D-H method is used to model the forward and inverse kinematics of the AUBO＿I5 manipulator.It provides theoretical support for the subsequent trajectory planning of the robotic arm joint space and Cartesian space.In order to shorten the running time of the manipulator under the condition of satisfying the constraints of robot kinematics,P-to-P trajectory planning is carried out in the joint space of the robot.The trajectory curve of the manipulator joint space is generated by interpolation of 5-7-5 polynomials.The PSO-SA algorithm was used to optimize the time interval between the path points to obtain the shortest time interval satisfying the kinematic constraints of the mechanical arm.On the premise of ensuring the stable operation of the mechanical arm,the motion efficiency of the mechanical arm was improved.STM32F407 was used as the main control chip to complete the construction of the jawbone medical instrument control system.While the advance and rotation of the surgical instrument bit were realized,the precise position of the jawbone medical instrument bit was controlled.Finally,the designed jawbone medical instrument was used as the end-effector of the AUBO＿I5mechanical arm to complete the design and control of a jawbone medical robot,which can help the oral surgeons to better repair the jaw lesion area.The surgical robot technology in China is not mature compared with that in foreign countries.In this paper,the forward and inverse kinematics modeling of the robot,the mechanism design of the jawbone medical device,the construction of the control system and the trajectory planning of the robot are studied in a series,hoping to provide some help for the development of the domestic medical robot.