CN110368090A - A kind of osteotomy navigating robot end caliberating device and scaling method - Google Patents
A kind of osteotomy navigating robot end caliberating device and scaling method Download PDFInfo
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- CN110368090A CN110368090A CN201910732624.5A CN201910732624A CN110368090A CN 110368090 A CN110368090 A CN 110368090A CN 201910732624 A CN201910732624 A CN 201910732624A CN 110368090 A CN110368090 A CN 110368090A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1657—Bone breaking devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1732—Guides or aligning means for drills, mills, pins or wires for bone breaking devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
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Abstract
A kind of osteotomy navigating robot end caliberating device and scaling method, belong to medical auxiliary apparatus technical field, it is demarcated in hole by the way that mechanical arm tail end calibration head is inserted into pose, it is successively read the coordinate value in each hole upper surface center of circle, then the inconsistent equation group of error amount between point and point is established, it solves to obtain the error amount in each joint of mechanical arm with least square method, and is corrected, complete the error correction to osteotomy navigating robot mechanical arm.Pass through bone-culting operation knife power head caliberating device, the joint parameter of the anti-bone-culting operation knife power head for releasing complex space abnormity, complete the parameter calibration to the irregular object of complex space abnormity, structure of the invention is novel, calibration principle is clear, it can be realized the parameter calibration of the error correction to the mechanical arm of serial manipulator one kind and the irregular object to complex space abnormity, it is valuable.
Description
Technical field
The invention belongs to medical auxiliary apparatus technical field, it is related to a kind of Robot calibration device and scaling method, specifically
Say it is to be related to a kind of osteotomy navigating robot end caliberating device and scaling method.
Background technique
With the development of society, the economic life level of people is greatly improved, more and more people wish logical
The means for crossing beauty make oneself to become more beautiful, and face's bone-culting operation accounts for greatly wherein.Due to traditional operation
Mode holds cutter instrument for doctor and provides visual field auxiliary completion by endoscope, and operation precision is low, and wound is larger, and effect is not
Good, so robot navigation assists osteotomy to initially enter the public visual field, and robot navigation assists osteotomy to ask greatly very much there are one
Topic, be exactly mechanical arm tail end tool position calibration with calibration it is very difficult.
Summary of the invention
The purpose of the present invention is tired for the calibration calibration of current osteotomy navigating robot end irregular shape tool position
Difficulty proposes a kind of osteotomy navigating robot end caliberating device and scaling method, can be navigated to osteotomy by the device and method
The error of robot is modified, and is completed osteotomy navigating robot terminal position and is precisely demarcated, improves bone-culting operation precision.
The technical scheme is that a kind of osteotomy navigating robot end caliberating device, it is characterised in that: the osteotomy
Navigating robot end caliberating device is made of robot arm caliberating device and bone-culting operation knife power head caliberating device；
The mechanical arm caliberating device is by mechanical arm pedestal, the first joint of mechanical arm, second joint, third joint, the 4th
Joint, the 5th joint, the 6th joint, mechanical arm tail end calibration head, pose scaling board composition, the 6th joint lower end, which is equipped with, to be connected
Lever attachment hole, the mechanical arm tail end calibration head is equipped with calibration hook bolt hole, calibration head pin hole and calibration head connecting hole, described
Connecting rod connecting hole is connected with calibration head connecting hole by bolt, and the pose scaling board is equipped with several poses and demarcates hole,
The bottommost of the mechanical arm tail end calibration head is connect with pose calibration hole；
The bone-culting operation knife power head caliberating device demarcates head, bone-culting operation knife power head, power by mechanical arm tail end
Head connector, bone-culting operation knife power head calibration head, pose scaling board composition；The front of the power head connector is equipped with power
The centre of head connector pin hole and power head connector bolt hole, the power head connector is equipped with a regular polygon inner ring, institute
It states and is provided with an elasticity enhancing seam below regular polygon inner ring, the side of the power head connector is equipped with a bolt presses
The rear end connection in hole, the bone-culting operation knife power head is locked in the regular polygon inner ring of the power head connector；It is described
Power head connector pin hole is positioned with calibration head pin hole by cylinder pin connection, the power head connection on the power head connector
Part bolt hole is connected and fixed by the calibration hook bolt hole that bolt is demarcated on head with mechanical arm tail end, the power head calibration head
Upper end card slot connect clamping with the head of the bone-culting operation knife power head, and the lower end cylinder of the power head calibration head is mounted on
In pose calibration hole on pose scaling board.
The regular polygon inner ring is positive 12 side shape inner ring, the inner diameter size and bone-culting operation knife power of regular polygon inner ring
The outer diameter of head forms clearance fit, and scalpel power head is fixed in regular polygon inner ring under the tightening of elasticity enhancing seam.
The bone-culting operation knife power head calibration head is by connecting shaft, top bar, intermediate step, the step constituted of getting out of a predicament or an embarrassing situation
Axis, the upper end of connecting shaft are equipped with the card slot connecting with bone-culting operation knife power head, the position being arranged on pose scaling board of getting out of a predicament or an embarrassing situation
Appearance is demarcated in hole.
There are through-hole inside the bone-culting operation knife power head calibration head, through-hole aperture is slightly less than the diameter of connecting shaft, in
Between the diameter of step be greater than the aperture in pose calibration hole, it is identical that the diameter got out of a predicament or an embarrassing situation and pose demarcate aperture.
A kind of scaling method of osteotomy navigating robot end caliberating device, spy are that scaling method is as follows:
(1) location position of mechanical arm tail end calibration head
(1-1) mechanical arm caliberating device is closed by the first joint of mechanical arm, second joint, third joint, the 4th joint, the 5th
Section, the 6th joint, mechanical arm tail end calibration head, pose scaling board are constituted, by joint parameter α, a, d band in each joint of mechanical arm
Enter joint matrix, acquires the transformation matrix A in each joint1、A2、A3、A4、A5、A6；By the joint parameter α in the first joint of mechanical arm,
A, d brings joint transformation matrices into
In obtain the spatial pose transformation matrix A of the distal point relative to coordinate origin O in the first joint1, similarly calculate
Spatial pose transformation matrix A to second joint relative to the first joint2, spatial pose of the third joint relative to second joint
Transformation matrix A3, spatial pose transformation matrix A of the 4th joint relative to third joint4, the 5th joint is relative to the 4th joint
Spatial pose transformation matrix A5, spatial pose transformation matrix A of the 6th joint relative to the 5th joint6, by the transformation in each joint
Matrix connects multiplied to pose transformation equation of the mechanical arm tail end point relative to coordinate origin O
A=A1A2A3A4A5A6；
End calibration head is inserted into pose calibration hole by (1-2), and then each joint angles sensor of mechanical arm is read
The angle taken is brought into the transformation equation of mechanical arm, and space bit of the mechanical arm tail end point relative to coordinate origin O is calculated
Appearance, wherein K1、K2、K3……K15Relative distance between point is it is known that B12For K1Point moves to K along the x axis2The translation square of point
Battle array, B16For K1Point moves to K along the y axis6The translation matrix of point, because the distance between adjacent two o'clock is equal in X-direction, Y-direction
Equally, distance between two points are realized by processing, so establishing inconsistent equation group below
K1=A1(k1)A2(k1)A3(k1)A4(k1)A5(k1)A6(k1)；
In X-direction:
In Y-direction:
(1-3) formula ATA=ATB acquires the least square solution of this inconsistent equation group, is the mistake between adjacent two o'clock
Difference DELTA x1、Δx2、Δx3……Δx12And Δ y1、Δy2、Δy3……Δy10, according to this error amount to osteotomy guiding aircraft
The joint parameter of device people carries out error correction；
(2) location position of bone-culting operation knife power head
(2-1) bone-culting operation knife power head caliberating device demarcates head, bone-culting operation knife power head, power by mechanical arm tail end
Head connector, bone-culting operation knife power head calibration head, pose scaling board are constituted, and pass through design bone-culting operation knife power head calibration
Head, the accurate solution of Lai Shixian bone-culting operation knife power head joint parameter α, a, d, kinematical equation are
A '=A1' A2' A3' A4' A5' A6' A7A8；
Wherein A1', A2', A3', A4', A5', A6' is the joint transformation matrix after amendment, A7For spacial special-shaped osteotomy
The joint transformation matrix of scalpel power head, A8The joint transformation matrix of head is demarcated for bone-culting operation knife power head；
Bone-culting operation knife power head calibration head is inserted into pose calibration hole by (2-2), each joint angles of mechanical arm
The angle that sensor is read is brought into the transformation equation of mechanical arm, be can be calculated the spatial pose of mechanical arm tail end, will be counted
The position coordinates of calculating and the coordinate in known pose calibration hole compare and analyze, and reversely extrapolate the joint of unknown matrix A7
Parameter alpha, a, d complete the parameter calibration to complex space polymorphic structure.
The invention has the benefit that a kind of osteotomy navigating robot end caliberating device proposed by the present invention and calibration side
Method, apparatus structure is novel, and calibration principle is clear, is demarcated in hole by the way that mechanical arm tail end calibration head is inserted into pose, is successively read
The coordinate value in each hole upper surface center of circle is taken, the inconsistent equation group of error amount between point and point is then established, with least square
Method solves to obtain the error amount in each joint of mechanical arm, and is corrected, and the error to osteotomy navigating robot mechanical arm is completed
Amendment.By bone-culting operation knife power head caliberating device, the joint of the anti-bone-culting operation knife power head for releasing complex space abnormity
Parameter completes the parameter calibration to the irregular object of complex space abnormity.The present invention can be realized to serial manipulator one
The parameter calibration of the error correction of the mechanical arm of class and the irregular object to complex space abnormity, it is valuable.
Detailed description of the invention
Fig. 1 is the link rod coordinate system figure of robot arm in the present invention.
Fig. 2 is that mechanical arm matrix parameter corrects schematic diagram in the present invention.
Fig. 3 is that robot arm demarcates schematic diagram in the present invention.
Fig. 4 is that robot arm demarcates partial sectional view in the present invention.
Fig. 5 is mechanical arm calibration schematic diagram of the present invention equipped with power head.
Fig. 6 is power head installation diagram in the present invention.
Fig. 7 is power head connection schematic diagram in the present invention.
Fig. 8 is power head connector part drawing in the present invention.
In figure: the 6th joint 1-1, connecting rod connecting hole 1-1-1, calibration hook bolt hole 1-1-2, calibration head pin hole 1-1-3, mark
Determine head 1-2, calibration head connecting hole 1-2-1,1-3 pose scaling board, pose calibration hole 1-3-1, the 5th joint 1-4, the 4th joint
1-5, it third joint 1-6, second joint 1-7, the first joint 1-8, mechanical arm pedestal 1-9, bone-culting operation knife power head 2-4, moves
Power head connector 2-5, bolt presses hole 2-5-1 power head connector pin hole, 2-5-2, power head connector bolt hole 2-5-3,
Elasticity enhancing seam 2-5-4, it regular polygon inner ring 2-5-5, power head calibration head 2-6, card slot 2-6-1, connecting shaft 2-6-2, appears on the stage
Rank 2-6-3, intermediate step 2-6-4, get out of a predicament or an embarrassing situation 2-6-5.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings:
As shown in figures 3-8, a kind of osteotomy navigating robot end caliberating device includes robot arm caliberating device
With bone-culting operation knife power head caliberating device；Mechanical arm caliberating device is by mechanical arm tail end connecting rod (the 6th joint) 1-1, mechanical arm
Head 1-2, pose scaling board 1-3 composition, the upper end of the lower end of the 6th joint 1-1 and mechanical arm tail end calibration head 1-2 are demarcated in end
Pass through the 1-1-1 connection of connecting rod connecting hole；Pose scaling board 1-3 is equipped with several poses and demarcates hole 1-3-1, mechanical arm tail end mark
Determine in the pose calibration hole 1-3-1 that the lower end head 1-2 cylinder is mounted on pose scaling board 1-3.
As viewed in figures 5-8, a kind of osteotomy navigating robot end caliberating device, bone-culting operation knife power head caliberating device packet
The rear end peace of power head 2-4, power head connector 2-5, power head calibration head 2-6, pose scaling board 1-3, power head 2-4 are included
In the inner ring of power head connector 2-5, and lock；The upper end card slot 2-6-1 and power head 2-4 of power head calibration head 2-6
Front end connection, and clamping；The lower end cylinder 2-6-5 of power head calibration head 2-6 is mounted on the pose mark on pose scaling board 1-3
Determine in the 1-3-1 of hole.The front of power head connector 2-5 is equipped with a power head connector pin hole 2-5-2 and a power head connects
There are the regular polygon inner ring 2-5-5 of an opening, power head connection in fitting bolt hole 2-5-3, the centre of power head connector 2-5
The side of part 2-5 is equipped with a bolt presses hole 2-5-1, enhances below power head connector 2-5 there are an elasticity and stitches 2-
5-4 compresses power head 2-4 convenient for being mounted on bolt presses hole 2-5-1 by bolt；Power head on power head connector 2-5
Connector pin hole 2-5-2 is connect with the calibration head pin hole 1-1-3 on mechanical arm tail end calibration head 1-2；On power head connector 2-5
Power head connector bolt hole 2-5-3 and mechanical arm tail end calibration head 1-2 on calibration hook bolt hole 1-1-2 connect.
As shown in Figure 3-4, a kind of osteotomy navigating robot end caliberating device, it is three layers of rank that mechanical arm tail end, which demarcates head 2,
Terraced structure, first layer multi-diameter shaft side are equipped with 3 bolt connecting hole 1-1-1 in 120 ° circumferentially, second layer ladder shaft diameter
Greater than the diameter of pose calibration hole 1-3-1, third layer ladder shaft diameter is identical as the pose calibration diameter of hole 1-3-1, works as machinery
When arm end calibration head 1-2 is inserted into pose calibration hole 1-3-1, it is determined that the unique positions of three-dimensional space, that is, pose demarcates hole
The upper surface centre point of 1-3-1.
As shown in figure 3, a kind of osteotomy navigating robot end caliberating device, there are 3 rows 15 total on pose scaling board 1-3
High precision position and posture demarcates hole 1-3-1, linear to arrange, and known to the relative coordinate between Kong Yukong.
As shown in fig. 6-7, a kind of osteotomy navigating robot end caliberating device, the inner ring shape of positive 12 side shape inner ring 2-5-5
, position uniquely determines the outer ring shape size of shape size and power head 2-4 when locking, not rotatable, increases connection
Reliability；, it can be achieved that the rotation of level-one level-one adjusts the setting angle of power head 2-4 when Panasonic.The lower section of power head connector 2-5
Equipped with one elasticity enhancing seam 2-5-4, for adjust power head 2-4 setting angle when provide necessary elasticity.
As shown in fig. 7, a kind of osteotomy navigating robot end caliberating device, bone-culting operation knife power head demarcates head 2-6's
Upper end is equipped with card slot 2-6-1 and can connect with bone-culting operation knife power head 2-4, three layers of lower end stepped cylindrical, lowest level cylinder 2-6-5
It is mounted in the pose calibration hole 1-3-1 on pose scaling board 1-3.
As shown in figures 1-8, a kind of scaling method of osteotomy navigating robot end caliberating device is as follows: by mechanical arm tail end
Calibration head 1-2 is inserted into pose calibration hole 1-3-1, is successively read the coordinate value in each hole upper surface center of circle, is then established a little
The inconsistent equation group of error amount between point solves to obtain the error amount in each joint of mechanical arm with least square method, and adds
With amendment, the error correction to osteotomy navigating robot mechanical arm is completed.The power head of design rule shape demarcates head 2-6, and
And calculate its joint transformation matrix A8, the bone-culting operation knife power head joint matrix of complex space abnormity is set as A7(unknown), and
The joint of mechanical arm transformation matrix brought into after correcting establishes forward kinematics equation A '=A1' A2' A3' A4' A5' A6' A7
A8, joint parameter α, a, d of the anti-bone-culting operation knife power head for releasing complex space abnormity are completed to complex space abnormity not
The parameter calibration of the object of rule.The present invention can be realized to the error correction of the mechanical arm of serial manipulator one kind and to multiple
The parameter calibration of miscellaneous spacial special-shaped irregular object, it is valuable.
Claims (5)
1. a kind of osteotomy navigating robot end caliberating device, it is characterised in that: osteotomy navigating robot end calibration dress
It sets and is made of robot arm caliberating device and bone-culting operation knife power head caliberating device；
The mechanical arm caliberating device is by mechanical arm pedestal (1-9), the first joint of mechanical arm (1-8), second joint (1-7),
Three joints (1-6), the 4th joint (1-5), the 5th joint (1-4), the 6th joint (1-1), mechanical arm tail end calibration head (1-2),
Pose scaling board (1-3) composition, the 6th joint lower end (1-1) are equipped with connecting rod connecting hole (1-1-1), the mechanical arm tail end
It demarcates head (1-2) and is equipped with calibration hook bolt hole (1-1-2), calibration head pin hole (1-1-3) and calibration head connecting hole (1-2-1),
The connecting rod connecting hole (1-1-1) is connected with calibration head connecting hole (1-2-1) by bolt, the pose scaling board (1-3)
It is equipped with several poses calibration hole (1-3-1), the bottommost and the pose of mechanical arm tail end calibration head (1-2) are demarcated
Hole (1-3-1) connection；
The bone-culting operation knife power head caliberating device is connected by mechanical arm tail end calibration head (1-2), power head (2-4), power head
Fitting (2-5), power head calibration head (2-6), pose scaling board (1-3) composition；The front of the power head connector (2-5) is set
Dynamic head connector pin hole (2-5-2) and power head connector bolt hole (2-5-3), the power head connector (2-5)
Centre is equipped with a regular polygon inner ring (2-5-5), and an elasticity enhancing seam is provided with below the regular polygon inner ring (2-5-5)
The side of (2-5-4), the power head connector (2-5) are equipped with a bolt presses hole (2-5-1), the power head (2-4)
Rear end connection be locked in the regular polygon inner ring (2-5-5) of the power head connector (2-5)；The power head connector
Pin hole (2-5-2) is positioned with calibration head pin hole (1-1-3) by cylinder pin connection, dynamic on the power head connector (2-5)
Power head connector bolt hole (2-5-3) passes through the calibration hook bolt hole (1-1-2) on bolt and mechanical arm tail end calibration head (1-2)
It is connected and fixed, the power head calibration head upper end (2-6) is equipped with card slot (2-6-1), the card slot (2-6-1) and the osteotomy hand
The head of art knife power head (2-4) connects clamping, and the power head calibration head bottom end (2-6), which is equipped with, gets out of a predicament or an embarrassing situation (2-6-5), described
The pose that (2-6-5) is mounted on pose scaling board (1-3) of getting out of a predicament or an embarrassing situation is demarcated in hole (1-3-1).
2. a kind of osteotomy navigating robot end according to claim 1 caliberating device, it is characterised in that: described just polygon
Shape inner ring (2-5-5) is positive 12 side shape inner ring, the inner diameter size of regular polygon inner ring (2-5-5) and the outer diameter of power head (2-4)
Clearance fit is formed, power head (2-4) is fixed in regular polygon inner ring under the tightening that elasticity enhances seam (2-5-4).
3. a kind of osteotomy navigating robot end according to claim 1 caliberating device, it is characterised in that: the power head
Calibration head (2-6) by connecting shaft (2-6-2), top bar (2-6-3), intermediate step (2-6-4), get out of a predicament or an embarrassing situation what (2-6-5) constituted
Step Shaft, the upper end of connecting shaft (2-6-2) are equipped with the card slot (2-6-1) connecting with power head (2-4), get out of a predicament or an embarrassing situation (2-6-5) set
It sets in pose calibration hole (1-3-1) on pose scaling board (1-3).
4. a kind of osteotomy navigating robot end according to claim 1 caliberating device, it is characterised in that: the power head
Demarcate that head (2-6) is internal there are through-hole, and through-hole aperture is slightly less than the diameter of connecting shaft (2-6-2), intermediate step (2-6-4) it is straight
Diameter is greater than the aperture of pose calibration hole (1-3-1), and to demarcate aperture identical for diameter and the pose of (2-6-5) of getting out of a predicament or an embarrassing situation.
5. a kind of scaling method of osteotomy navigating robot end caliberating device, spy is, uses any one of claim 1-4
The osteotomy navigating robot end caliberating device, scaling method are as follows:
(1) location position of mechanical arm tail end calibration head (1-2)
(1-1) mechanical arm caliberating device is by the first joint of mechanical arm (1-8), second joint (1-7), third joint (1-6), the 4th
Joint (1-5), the 5th joint (1-4), the 6th joint (1-1), mechanical arm tail end demarcate head (1-2), pose scaling board (1-3) structure
At bringing joint parameter α, a, the d in each joint of mechanical arm into joint matrix, acquire the transformation matrix A in each joint1、A2、A3、
A4、A5、A6；Bring joint parameter α, a, the d in the first joint of mechanical arm (1-8) into joint transformation matrices
In obtain the spatial pose transformation matrix A of the distal point relative to coordinate origin O in the first joint (1-8)1, similarly calculate
Spatial pose transformation matrix A to second joint (1-7) relative to the first joint (1-8)2, third joint (1-6) is relative to
The spatial pose transformation matrix A in two joints (1-7)3, the 4th joint (1-5) becomes relative to the spatial pose of third joint (1-6)
Change matrix A4, spatial pose transformation matrix A of the 5th joint (1-4) relative to the 4th joint (1-5)5, the 6th joint (1-1) phase
For the spatial pose transformation matrix A in the 5th joint (1-4)6, the transformation matrix in each joint is connected multiplied to mechanical arm tail end
Pose transformation equation of the point relative to coordinate origin O
A=A1A2A3A4A5A6；
End calibration head (1-2) is inserted into pose calibration hole (1-3-1) by (1-2), then each joint angles of mechanical arm
The angle that sensor is read is brought into the transformation equation of mechanical arm, and mechanical arm tail end point is calculated relative to coordinate origin O
Spatial pose, wherein K1、K2、K3……K15Relative distance between point is it is known that B12For K1Point moves to K along the x axis2Point
Translation matrix, B16For K1Point moves to K along the y axis6The translation matrix of point, because in X-direction, Y-direction between adjacent two o'clock
Distance, distance between two points be by processing realize, so establishing inconsistent equation group below
K1=A1(k1)A2(k1)A3(k1)A4(k1)A5(k1)A6(k1)；
In X-direction:
In Y-direction:
(1-3) formula ATA=ATB acquires the least square solution of this inconsistent equation group, is the error amount between adjacent two o'clock
Δx1、Δx2、Δx3……Δx12And Δ y1、Δy2、Δy3……Δy10, according to this error amount to osteotomy navigating robot
Joint parameter carry out error correction；
(2) location position of power head (2-4)
(2-1) power head (2-4) caliberating device is demarcated head (1-2) by mechanical arm tail end, bone-culting operation knife power head (2-4), is moved
Power head connector (2-5), power head calibration head (2-6), pose scaling board (1-3) are constituted, by designing bone-culting operation knife power
Leader is determined head (2-6), the accurate solution of Lai Shixian bone-culting operation knife power head joint parameter α, a, d, and kinematical equation is
A '=A1' A2' A3' A4' A5' A6' A7A8；
Wherein A1', A2', A3', A4', A5', A6' is the joint transformation matrix after amendment, A7For spacial special-shaped bone-culting operation knife
The joint transformation matrix of power head, A8The joint transformation matrix of head (2-6) is demarcated for power head；
Power head calibration head (2-6) is inserted into pose calibration hole (1-3-1) by (2-2), and each joint angles of mechanical arm are passed
The angle that sensor is read is brought into the transformation equation of mechanical arm, be can be calculated the spatial pose of mechanical arm tail end, will be calculated
Position coordinates out and the coordinate in known pose calibration hole compare and analyze, and reversely extrapolate the joint ginseng of unknown matrix A7
Number α, a, d, complete the parameter calibration to complex space polymorphic structure.
Priority Applications (1)
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