用于微创手术机器人的力反馈主手设计与分析

In this paper, the design of a 8 degrees-of-freedom (DOF) force reflection master manipulator for applications in minimally invasive surgery is presented. The manipulator includes three parts: arm mechanism, wrist mechanism and clamping mechanism. Arm mechanism is capable of position and force reflection in three translational motion. The wrist mechanism has a redundant DOF and can provide 3 DOF orientation. Based on the structure of the manipulator, forward and inverse kinematics and Jacobian matrix are presented. The kinematics simulation in Adams verifies its correctness. Using Jacobian matrix condition number the manipulability of the manipulator in its workspace is analyzed, which demonstrate that the manipulator is not only meet the workspace requirement of minimally invasive surgery well but also has great flexibility.