中国机械工程

• 机械基础工程 • 上一篇    下一篇

力反馈主操作手附加力的补偿策略研究

贠今天1,2;刘阳阳1;杨全利3;桑宏强1,2   

  1. 1.天津工业大学机械工程学院,天津,300387
    2.天津市现代机电装备技术重点实验室,天津,300387
    3.天津职业技术师范大学,天津,300222
  • 出版日期:2017-05-25 发布日期:2017-05-25
  • 基金资助:
    国家自然科学基金资助项目(51205287);
    天津市自然科学基金资助项目(16JCYBJC18400)

Research on Compensation Strategy for Induced Forces of Force Feedback Master Manipulators

YUN Jintian1,2;LIU Yangyang1;YANG Quanli3;SANG Hongqiang1,2   

  1. 1.School of Mechanical Engineering,Tianjin Polytechnic University,Tianjin,300387
    2.Advanced Mechatronics Equipment Technology Tianjin Area Major Laboratory,Tianjin,300387
    3.Tianjin University of Technology and Education,Tianjin,300222
  • Online:2017-05-25 Published:2017-05-25

摘要: 针对力反馈主操作手的连杆重力、关节摩擦力以及惯性力影响医生真实感知反馈力信息的问题,建立了一套完整的动力学模型。基于力反馈主操作手动力学模型,分别建立了主操作手的重力补偿模型、摩擦力补偿模型以及惯性力补偿模型。通过力补偿控制策略来消除力反馈主操作手本身所具有的重力、关节摩擦力以及惯性力伴随关节运动对反馈作用力造成的干扰,实现了医生的真实力觉感知,从而提高了微创手术的精度。

关键词: 力反馈, 主操作手附加力, 补偿策略, 动力学模型, 微创手术

Abstract: Aiming at the problems that the connecting rod gravity, joint frictions and inertia forces of force feedback master manipulator affected doctors real perception of feedback force informations, a complete dynamics model was established. Based on the dynamics model of force feedback master manipulator, gravity compensation model, friction compensation model, and inertia force compensation model were established respectively. Force compensation strategies were used to eliminate the interferences to feedback forces from gravity, joint friction and inertia force of force feedback master manipulator in joint movements. Thus the doctors real force perception is realized and the accuracy of minimally invasive surgery is improved.

Key words: force feedback, induced force of master manipulator, compensation strategy, dynamics model, minimally invasive surgery

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