手术机器人远程运动中心机构的误差分析方法

利用几何关系的建模与计算,研究了手术机器人中平行四杆型远程运动中心机构的误差问题.首先,对机构的误差进行识别和定义,使用直接线性化方法建立机构的误差传递模型;然后,用概率性方法和确定性方法分别讨论了机构的绝对精度和重复精度;最后,分析了机构各误差因素的敏感性.算例分析结果表明,使用IT6级精度可以达到较高的定位精度,通过敏感性分析可以找出影响机构定位精度的关键因素.

Tolerance Analysis Method of Mechanism of Remote Center of Motion in Surgical Robot

An analysis method for the tolerance problem of the mechanism of remote center of motion used in surgical robot was conducted，which incorporated the identification and definition of the mechanical tolerance. An error propagation model was established using the direct linearization method. Besides, the absolute accuracy and repeat accuracy of the mechanism were analyzed using the probabilistic method and the deterministic method. In addition，sensitivity analysis of each error factor was conducted. The result shows that the mechanism can achieve a relatively high accuracy when using the IT6 standard designing level，and sensitivity analysis can find out the key factor that affects the mechanism accuracy.