具有万向调节精确定位的机器人腕关节.docVIP

基于光学定位的精确调节的多功能腕关节 摘 要：现代机器人腕关节主要有柔性手腕，串联腕关节如pitch-roll-yaw。工业机器人手腕结构为了获得较大的调整方位，不得不把关节臂做的很长。而被动机构的腕关节又很难做到主动精确的调整。面对未知的工作环境时，这种手腕不具有通用性。本文提出一种具有万向调节精确定位的机器人腕关节。并以颌面外科手术为背景，设计了一个样机，通过仿真和实验验证机构的可行性，能够实现万向调节，精确定位。 关 键 字：颅颌面外科手术 万向调节、腕关节、精确定位 Universal?adjustment?with?precise positioning?robot?wrist Abstract: Craniomaxillofacial surgery is complex and high-risk that the surgical margin involves some vital organs such as brain and eye covers, there are some inherent difficulties in surgery. At present in the craniomaxillofacial surgery, surgical repair of implant geometry error and positioning error is hard to reduce to within 1mm to patients, as a result, this surgery is difficult to meet the precise repair of surgical patients with head requirement of treatment and affect the treatment effect. Currently, computer aided technology and medical robots make the enormous impetus in the development of the craniomaxillofacial surgery, they are the important way to solve the hard part of the surgery. This paper presents a Wrist joint structure that can realize end accurate positioning and posture universal adjustment, this can greatly reduce some development surgery operation difficulty and improve the surgical precise positioning. And supporting proposes an effective end wrist operating procedures, thus to improve surgical precision. Craniofacial surgery is complicated and high-risky,which refers to the brain and eye covers and other important organs,and there are some inherent difficulties in the surgery.Currently, during the craniofacial surgery,the geometry error and positioning error of surgical repair implant is difficult to reduce to as small as 1mm or less,which cant meet the requirement of the patients surgery on accurate repair skull,thus influencing the curing effect. Currently, computer-aided technology and medical robots have played great roles in promoting the development of craniofacial surgery,which is the most important solution to the current difficulties