| The efficiency of endoscope cleaning and disinfection affects the efficiency of endoscopic surgery.Due to the multiple and complex cleaning and disinfection processes of endoscope,the cleaning and disinfection method currently adopted by domestic medical institutions is manual cleaning workstation supplemented by automatic cleaning equipment,but the cleaning and disinfection efficiency of endoscope often cannot meet the needs of patients.In order to alleviate the burden of endoscope cleaning and disinfection in current medical institutions,and reduce labor costs,this thesis develops an automatic endoscope cleaning and disinfection machine,and during the design and development of the equipment,the manipulator used to transport the load frame of the endoscope is studied in depth.Aiming at the two problems of restraining the swing of the vertical rod of the manipulator and improving the operating efficiency of the manipulator in actual equipment operation,the mathematical modeling is carried out with the help of mechanical analysis.Then,based on the manipulator model,controller is designed by sliding mode control and fuzzy control methods.The main research and development work of this thesis includes:(1)The design of endoscope cleaning and disinfection machine and automatic manipulator system are elaborated in detail.According to the cleaning and disinfection requirements of medical instruments,the overall design framework of automatic endoscope cleaning and disinfection machine is built.The automatic manipulator system is designed from two aspects of hardware and software,including the design of program flow chart,the assembly and debugging of manipulator actuator and the protection and fault indication of manipulator.Finally,the debugging of the equipment prototype is completed,and the standardized and efficient cleaning and disinfection of the endoscope is realized.(2)Kinetic analysis of manipulator in automatic endoscope cleaning and disinfection machine.On the basis of the overall structure design and operation principle of the endoscope cleaning and disinfection machine,the full automatic manipulator is studied in more depth.The second Lagrange equation is used to establish the motion mathematical model of the manipulator which is used to transfer the load frame of the endoscope,and the actual operation process is repeatedly simulated through simulation experiments.It lays a foundation for the design of controller and further work subsequently.(3)Research on sliding mode anti-swing control of the manipulator system.Using the principle of the sliding mode control,the design of sliding mode anti-swing controller is carried out based on the mathematical model of the manipulator.The proof of the finite time reachability of the sliding mode surface and the sufficient conditions for stability of the system are given.The effectiveness and superiority of the sliding mode control method are verified by a group of comparative simulation.The experimental results show that the sliding mode control method can make the manipulator reach the desired position quickly,and the swing of the vertical rod in the process of moving meets the operation requirements of the endoscope cleaning and disinfection machine.(4)In view of the chattering defect of the output of sliding mode controller,the amplitude and variation degree of the output of controller should be adjusted.On the basis of sliding mode control,a manipulator control strategy based on fuzzy control is proposed and designed by introducing the idea of fuzzy control.The controller membership function and fuzzy rules are given.A fuzzy factor is added to the original sliding mode control law,and the symbolic function is replaced by a saturation function.Finally,according to the operation mode of the servo driver and the servo motor of the endoscope cleaning and disinfecting machine,the force directly on the manipulator is converted into the applied analog voltage required by the servo driver. |
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