毕业设计（论文）-微创外科手术机器人设计及Solidworks建模仿真.docVIP

【摘 要】 本文基于微创外科手术的要求，对微创外科手术机器人进行了总体结构方案设计，并用Microsoft Office Visio 2003绘制结构方案二维图，根据二维结构图采用Solidworks软件建立各个杆件的零部件图，按要求给各个零部件添加合适的约束，并对其进行装配。然后根据D-H(四参数法）和齐次坐标变换建立杆件坐标系，并建立运动学正解方程，并运用Matlab软件求出正解。然后将装配体添加到Motion运动模块中，给机器人添加载荷，配合以及驱动等关系，然后模拟机器人的运动，对其进行运动仿真，并检测机器人末端刀具的轨迹、速度、加速度等，最后运用Matlab编程，将驱动马达参数添加到程序中，绘制出微创手术机器人的末端轨迹图，并将其与Motion运动模块仿真出的轨迹进行对比，进而确定正解的正确性。 【关键词】： 微创手术机器人 Solidworks 运动学正解 Motion仿真 Based on Solidworks minimally invasive surgery of the motion simulation 【Abstract】 This paper, based on the minimally invasive surgery, at the request of minimally invasive surgical robot general structure design, and Microsoft Office Visio 2003 draw structure scheme 2 d figure, 2 d structure according to the setting the bar a Solidworks software components chart, according to the requirements of the appropriate to each parts add constraint, and carries on the assembly. And then based on the D-H (four parameters method) and homogeneous coordinate transform a coordinate system established stem, and establish kinematics is solve the equation, and use of Matlab software for a positive solutions. And then to add to the assembly body Motion movement modules, give robots add load, cooperate and drivers, relationship, and then the movement simulation, and carry on the Motion simulation, and inspection robot end tool path, speed, acceleration, finally using Matlab programming, will drive motor parameter added to the program, rendering the minimally invasive surgery at the end of the robot path chart, and with the Motion of the trajectory simulation exercise module is compared, and then determines the correctness of the positive solution. 【Keywords】: minimally invasive surgical robot Solidworks Kinematics positive solutions Motion simulation 目 录 1绪论 1 1.1课题背景 1 1.2国内外研究现状 1 1.2.1国内研究现状 1 1.2.2国外研究现状 2 1.3本论文的主要内容 4 2 微创手术机器人建模 5 2.1当前机器人的常用结构 5 2.2微创手术对机器人的要求 6 2.3微创手术机器人结构方案确定 8 2.3Solidworks软件简介 9 2.4微创手术机器人的三维模型 9 2.5每个关节的功能 15 3 微创手术机器人的运动学分析 17 3