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手术杆末端的可达工作空间直接影响到手术区域的规划。基于正运动学分析,得到手术杆末端位置与各关节变量的函数关系,运用蒙特卡罗法求解末端位置集合,并在Matlab中绘制工作空间云点图;采用二维曲线生成曲面的方法分析工作空间边界,利用重积分原理求解其体积;最后运用几何代数相结合的方法对工作空间进行了仿真。为该机器人进行实际的微创手术奠定了基础。
The reachable working space at the end of the operating rod has a direct impact on the planning of the operating area. Based on the positive kinematic analysis, the functional relationship between the position of the distal end of the operating rod and each joint variable is obtained. Monte Carlo method is used to solve the set of end positions, and the cloud point map of the working space is plotted in Matlab. Space boundary, the principle of re-integration of its solution to its volume; Finally, the use of geometric algebra method of combining the work space simulation. This robot laid the foundation for the actual minimally invasive surgery.