新型外科手术机器人(AOBO)的机构设计及运动学分析

为了提高外科手术机器人的工作空间和手术效率，缩小机器人的操作空间和结构尺寸，以适应针对不同病人的 工作特点和手术环境。研制了一种新型的7自由度外科手术机器人( AOBO)，设计了每个关节的动力机构以及专用的 手术器械。肩关节机构处通过1个谐波减速器使得整体运动更加平稳，负载能力更大；大臂和小臂采用高强度低质量的 碳纤维材质制造减少了由于臂长给电机增加的负载，同时建立了其运动学方程，仿真了机器人的工作空间。实物测试实 验表明，该外科手术机器人具有合适的工作空间和很好的动作灵活性，能够满足外科手术对于机器人的准确定位和精确 操作的要求。

New Type of Surgery Robot ( AOBO) Mechanism Design and Kinematics Analysis

ln order to improve operation efficiency of surgical robot. decrease working space and robot structure size to adapt work characteristics and operation environment for different patients. A new type of surgery robot AOBO was developed, the motivation mechanism of each joint and special surgical instruments were designed. Shoulder joint mechanism makes the overall movement more stable and has greater load capacity by a harmonic reducer; big arm and small arm were made from carbon fiber material with low weight and high strength, which reduces the load to the motor due to long arm. In the meanwhile. the kinematics equation was established. robot working space was simulated. Physical test results indicate that the surgical robot has a proper work space and good flexibility. can satisfy the surgery operation requirements of robot accurate positioning and precise operation.