CN102579137A - Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally - Google Patents

Abstract

The invention relates to a parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally, which comprises a first RPRPR closed-loop sub-chain, a second RPRPR closed-loop sub-chain and an actuating mechanism sub-chain. The first RPRPR closed-loop sub-chain and the second RPRPR closed-loop sub-chain are located in the same plane. The first RPRPR closed-loop sub-chain can control a first rotary table to move with two degrees of freedom in the plane, and the second RPRPR closed-loop sub-chain can control a second rotary table to move with two degrees of freedom in the plane. A movable platform can move with four degrees of freedom in a space due to movement of the first rotary table and movement of the second rotary table. The two closed-loop sub-chains are used for controlling movement of the two rotary tables in the plane, and accordingly the movable platform can move with four degrees of freedom in the space. The parallel surgical manipulator has the advantages of compact structure and simplicity in control. All driving rods are connected onto a framework and can be light rods, inertia of mechanism kinematics is low, and dynamics performances are good.

Description

A parallel surgical manipulator capable of three-dimensional translation and one-dimensional rotation

technical field

The invention relates to the field of robots, in particular to a parallel surgical manipulator capable of three-dimensional translation and one-dimensional rotation.

Background technique

The parallel mechanism is a mechanism that connects the moving platform and the fixed platform through at least two independent kinematic chains, has two or more degrees of freedom, and is driven in parallel. It has high precision, compact structure, high rigidity, With the advantages of strong carrying capacity and other advantages, it has achieved good applications in motion simulators, parallel machine tools, micro-manipulation robots, and grasping robots. However, the existing parallel mechanisms basically have branches without closed loops. For parallel mechanisms with degrees of freedom greater than the number of branch chains, some branch chains must be equipped with two or more driving parts, which requires the motor to be installed in the Joints of branch chains, resulting in problems such as poor rigidity of the mechanism, large inertia, accumulation of joint errors, poor dynamic performance of the mechanism, and difficult control. Surgical robots are high-precision instruments with very high requirements. It is difficult for traditional serial robots to meet their requirements. The use of parallel mechanisms can meet the requirements of precise movement of surgical robots.

Contents of the invention

The purpose of the present invention is to provide a parallel surgical manipulator capable of three-dimensional translation and one-dimensional rotation, which solves the problems of poor rigidity, large inertia, and joint error accumulation of traditional parallel surgical manipulators whose number of degrees of freedom is greater than the number of branches.

The present invention achieves the above object through the following technical solutions: a parallel surgical manipulator capable of three-dimensional translation and one-dimensional rotation, including the first RPRPR closed-loop sub-chain, the second RRPPR closed-loop sub-chain and the actuator sub-chain, its mechanism and linking mode for:

The first RPRPR closed-loop sub-chain is formed by connecting the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod and the frame, the first connecting rod is connected to the frame through the first rotating pair, The other end of the first connecting rod is connected to the second connecting rod through the first moving pair, the other end of the second connecting rod is connected to the third connecting rod through the second rotating pair, and the other end of the third connecting rod is connected to the fourth connecting rod through the second moving pair. The other end of the fourth connecting rod is connected to the frame through the third rotating pair, the first connecting rod is driven by the first servo motor, and the fourth connecting rod is driven by the second servo motor.

The second RPRPR closed-loop sub-chain is formed by connecting the fifth connecting rod, the sixth connecting rod, the seventh connecting rod, the eighth connecting rod and the frame, and the fifth connecting rod is connected to the frame through the fourth rotating pair, The other end of the fifth connecting rod is connected to the sixth connecting rod through the third moving pair, the other end of the sixth connecting rod is connected to the seventh connecting rod through the fifth rotating pair, and the other end of the seventh connecting rod is connected to the eighth connecting rod through the fourth moving pair. The connecting rod is connected, the other end of the eighth connecting rod is connected to the frame through the sixth rotating pair, the fifth connecting rod is driven by the third servo motor, the eighth connecting rod is driven by the fourth servo motor,

The sub-chain of the actuator is connected by the first turntable, the second turntable, the ninth connecting rod, the tenth connecting rod, the eleventh connecting rod, the twelfth connecting rod and the moving platform. The pair is connected with the second connecting rod, the first turntable is connected with the ninth connecting rod through the seventh rotating pair, the first turntable is connected with the tenth connecting rod through the eighth rotating pair, and the other end of the ninth connecting rod is connected with the ninth connecting rod through the ninth rotating pair. The other end of the tenth connecting rod is connected to the moving platform through the tenth revolving pair, the second turntable is connected to the sixth connecting rod through the fifth revolving pair, and the second turntable is connected to the eleventh connecting rod through the eleventh revolving pair , the second turntable is connected with the twelfth connecting rod through the twelfth rotating pair, the other end of the eleventh connecting rod is connected with the moving platform and the ninth connecting rod through the ninth rotating pair, and the other end of the twelfth connecting rod is connected through the tenth connecting rod The three revolving pairs are connected with the moving platform. The movement of the first turntable and the second turntable in the plane can realize the four-degree-of-freedom movement of the moving platform in space,

The rotation axes of the first, second, third, fourth, fifth, and sixth rotation pairs are parallel to each other, and the seventh, eighth, and ninth rotation pairs are parallel to each other. The axes of rotation of the pair, the tenth revolving pair, the eleventh revolving pair, the twelfth revolving pair, and the thirteenth revolving pair are parallel to each other, the ninth connecting rod is parallel to the tenth connecting rod, and the eleventh connecting rod is parallel to the tenth connecting rod. Twelve connecting rods are equal in length and parallel.

The outstanding advantages of the present invention are:

1. The driving motors are all installed on the frame, and the rods can be made into light rods, which can effectively reduce the weight of the mechanism, with good rigidity, small inertia and good dynamic performance;

2. The motion output of the braking platform is controlled by two closed-loop sub-chains of symmetrical structure, so that the forward and inverse problems of mechanism kinematics are easy to solve and the control is convenient;

3. Complete surgical action tasks by installing surgical tools such as scalpels on the moving platform.

Description of drawings

FIG. 1 is a schematic diagram of the first structure of a parallel surgical manipulator capable of three-dimensional translation and one-dimensional rotation according to the present invention.

Fig. 2 is a schematic diagram of the second structure of a parallel surgical manipulator capable of three-dimensional translation and one-dimensional rotation according to the present invention.

Fig. 3 is a first working schematic diagram of a parallel surgical manipulator capable of three-dimensional translation and one-dimensional rotation according to the present invention.

Fig. 4 is a second working schematic diagram of a parallel surgical manipulator capable of three-dimensional translation and one-dimensional rotation according to the present invention.

Fig. 5 is a third working schematic diagram of a parallel surgical manipulator capable of three-dimensional translation and one-dimensional rotation according to the present invention.

Fig. 6 is a fourth working schematic diagram of a parallel surgical manipulator capable of three-dimensional translation and one-dimensional rotation according to the present invention.

Fig. 7 is a fifth working diagram of a parallel surgical manipulator capable of three-dimensional translation and one-dimensional rotation according to the present invention.

Detailed ways

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Referring to Fig. 1 and Fig. 2, a parallel surgical manipulator capable of three-dimensional translation and one-dimensional rotation includes a first RRPPR closed-loop sub-chain, a second RRPPR closed-loop sub-chain and an actuator sub-chain.

The first RRPPR closed-loop sub-chain is formed by connecting the first connecting rod 3, the second connecting rod 4, the third connecting rod 8, the fourth connecting rod 9 and the frame 1, and the first connecting rod 3 passes through the first rotating pair 2 is connected to the frame 1, the other end of the first connecting rod 3 is connected to the second connecting rod 4 through the first moving pair 30, and the other end of the second connecting rod 4 is connected to the third connecting rod 8 through the second rotating pair 28, The other end of the third connecting rod 8 is connected to the fourth connecting rod 9 through the second moving pair, the other end of the fourth connecting rod 9 is connected to the frame 1 through the third rotating pair 10, and the first connecting rod 3 is driven by the first servo motor 34 drives, and the fourth connecting rod 9 is driven by the second servo motor 35.

The second RRPPR closed-loop sub-chain is formed by connecting the fifth connecting rod 20, the sixth connecting rod 21, the seventh connecting rod 25, the eighth connecting rod 26 and the frame 1, and the fifth connecting rod 20 passes through the fourth rotating pair 19 is connected to the frame 1, the other end of the fifth connecting rod is connected with the sixth connecting rod 21 through the third moving pair 32, and the other end of the sixth connecting rod 21 is connected with the seventh connecting rod 25 through the fifth rotating pair 29, the second The other end of the seven connecting rod 25 is connected to the eighth connecting rod 26 through the fourth moving pair 33, the other end of the eighth connecting rod 26 is connected to the frame 1 through the sixth rotating pair 27, and the fifth connecting rod 20 is driven by the third servo motor 36 drives, and the eighth connecting rod 26 is driven by the fourth servo motor 37.

The sub-chain of the actuator is formed by connecting the first turntable 5, the second turntable 24, the ninth connecting rod 12, the tenth connecting rod 11, the eleventh connecting rod 18, the twelfth connecting rod 17 and the moving platform 14, The first turntable 5 is connected with the second connecting rod 4 through the second turning pair 28, the first turntable 5 is connected with the ninth connecting rod 12 through the seventh turning pair 7, and the first turntable 5 is connected with the tenth connecting rod through the eighth turning pair 6. The rod 11 is connected, the other end of the ninth connecting rod 12 is connected with the moving platform 14 through the ninth rotating pair 15, the other end of the tenth connecting rod 11 is connected with the moving platform 14 through the tenth rotating pair 13, and the second turntable 24 is connected through the fifth rotating pair 29 is connected with the sixth connecting rod 21, the second turntable 24 is connected with the eleventh connecting rod 18 through the eleventh turning pair 22, the second turntable 24 is connected with the twelfth connecting rod 17 through the twelfth turning pair 23, and the second turntable 24 is connected with the twelfth connecting rod 17 through the twelfth turning pair 23, The other end of the eleventh connecting rod 18 is connected to the moving platform 14 and the ninth connecting rod 12 through the ninth rotating pair 15 , and the other end of the twelfth connecting rod 17 is connected to the moving platform 15 through the thirteenth rotating pair 16 . The movement of the first turntable 5 and the second turntable 24 in the plane can realize the 4-degree-of-freedom movement of the moving platform 14 in space.

The rotation axes of the first rotating pair 2, the second rotating pair 28, the third rotating pair 10, the fourth rotating pair 19, the fifth rotating pair 29, and the sixth rotating pair 27 are parallel to each other, and the seventh rotating pair 7, the sixth rotating pair The axes of rotation of the eighth revolving pair 6, the ninth revolving pair 15, the tenth revolving pair 13, the eleventh revolving pair 22, the twelfth revolving pair 23, and the thirteenth revolving pair 16 are parallel to each other, and the ninth connecting rod 12 and the The ten connecting rods 11 are equal in length and parallel, and the eleventh connecting rod 18 is equal in length and parallel to the twelfth connecting rod 17 .

Referring to FIG. 3 and FIG. 4 , the movement of the first turntable 4 and the second turntable 21 in the movement space can realize the vertical translation of the movable platform 13 .

Referring to FIG. 5 , the movement of the first turntable 4 and the second turntable 21 in the movement space can realize the one-dimensional complete rotation of the moving platform 13 around its own axis.

Referring to FIG. 6 , the movement of the first turntable 4 and the second turntable 21 in the movement space can realize the forward and backward translation of the movable platform 13 .

Referring to FIG. 7 , the movement of the first turntable 4 and the second turntable 21 in the movement space can realize the left-right translation of the movable platform 13 .

Claims (1)

1. A parallel surgical manipulator capable of realizing three-dimensional translation and one-dimensional rotation, comprising the first RPRPR closed-loop sub-chain, the second RPRPR closed-loop sub-chain and the actuator sub-chain, characterized in that its mechanism and linking methods are: The first RPRPR closed-loop sub-chain is formed by connecting the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod and the frame, the first connecting rod is connected to the frame through the first rotating pair, The other end of the first connecting rod is connected to the second connecting rod through the first moving pair, the other end of the second connecting rod is connected to the third connecting rod through the second rotating pair, and the other end of the third connecting rod is connected to the fourth connecting rod through the second moving pair. The other end of the fourth connecting rod is connected to the frame through the third rotating pair, the first connecting rod is driven by the first servo motor, and the fourth connecting rod is driven by the second servo motor. The second RPRPR closed-loop sub-chain is formed by connecting the fifth connecting rod, the sixth connecting rod, the seventh connecting rod, the eighth connecting rod and the frame, and the fifth connecting rod is connected to the frame through the fourth rotating pair, The other end of the fifth connecting rod is connected to the sixth connecting rod through the third moving pair, the other end of the sixth connecting rod is connected to the seventh connecting rod through the fifth rotating pair, and the other end of the seventh connecting rod is connected to the eighth connecting rod through the fourth moving pair. The connecting rod is connected, the other end of the eighth connecting rod is connected to the frame through the sixth rotating pair, the fifth connecting rod is driven by the third servo motor, the eighth connecting rod is driven by the fourth servo motor, The sub-chain of the actuator is connected by the first turntable, the second turntable, the ninth connecting rod, the tenth connecting rod, the eleventh connecting rod, the twelfth connecting rod and the moving platform. The pair is connected with the second connecting rod, the first turntable is connected with the ninth connecting rod through the seventh rotating pair, the first turntable is connected with the tenth connecting rod through the eighth rotating pair, and the other end of the ninth connecting rod is connected with the ninth connecting rod through the ninth rotating pair. The other end of the tenth connecting rod is connected to the moving platform through the tenth revolving pair, the second turntable is connected to the sixth connecting rod through the fifth revolving pair, and the second turntable is connected to the eleventh connecting rod through the eleventh revolving pair , the second turntable is connected with the twelfth connecting rod through the twelfth rotating pair, the other end of the eleventh connecting rod is connected with the moving platform and the ninth connecting rod through the ninth rotating pair, and the other end of the twelfth connecting rod is connected through the tenth connecting rod The three revolving pairs are connected with the moving platform. The movement of the first turntable and the second turntable in the plane can realize the four-degree-of-freedom movement of the moving platform in space, The rotation axes of the first, second, third, fourth, fifth, and sixth rotation pairs are parallel to each other, and the seventh, eighth, and ninth rotation pairs are parallel to each other. The axes of rotation of the pair, the tenth revolving pair, the eleventh revolving pair, the twelfth revolving pair, and the thirteenth revolving pair are parallel to each other, the ninth connecting rod is parallel to the tenth connecting rod, and the eleventh connecting rod is parallel to the tenth connecting rod. Twelve connecting rods are equal in length and parallel.

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