Open AccessDesign and analysis of positioning manipulator structure for vascular interventional surgery robot system
Author(s) -
Haoyang Yu,
Xin Li,
Michenyang Yao,
Hongbo Wang,
Jianye Niu,
Jingyuan Chang,
Jiawei Wang
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1906/1/012033
Subject(s) - mobile manipulator , parallel manipulator , manipulator (device) , modular design , kinematics , robot , control engineering , control theory (sociology) , inverse kinematics , simulation , computer science , engineering , artificial intelligence , mobile robot , physics , control (management) , classical mechanics , operating system
The positioning manipulator is an important part of the minimally invasive vascular interventional surgical robot system. In order to make the surgical robot system have high safety, convenience and accuracy, this paper designs a modular light weight manipulator as a positioning manipulator, which is used to realize the positioning and movement of the propulsion device. First, according to the requirements of the operation, the degree of freedom and configuration method of the manipulator are determined, and the configuration design and parameter selection of the manipulator are completed. Then, according to the structural characteristics of the articulated robot, the D-H parameter method and the inverse transformation method are used to analyze the kinematics of the manipulator and its working space are analyzed. On this basis, the manipulator is analyzed by finite element and verified by static simulation. Finally, the positioning manipulator can realize the function of dragging in its working space by hand to achieve the target pose.