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一种新型微创手术机器人远心定位机构的研究
Authors
张召颖
张国胜
+3 more
张帆
邹洵
马保平
Publication date
1 January 2020
Publisher
Editorial Office of Journal of Mechanical Transmission
Doi
Cite
Abstract
具有远程运动中心(Remote motion center,RCM)的手术机器人在微创手术(Minimally invasive surgery,MIS)领域起着至关重要的作用。综合考虑双平行四边形和双同步带RCM机构的优缺点,提出基于单同步带、单平行四边形的新型远心定位机构。基于Adams和SimMechanics分析新型RCM机构末端不动点的精度和运动空间。仿真结果表明,新型RCM机构在满足手术所需运动空间的基础上,具备更高的不动点精度,机构简单紧凑,稳定性较好
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Last time updated on 06/04/2023