CORE
🇺🇦
make metadata, not war
Services
Services overview
Explore all CORE services
Access to raw data
API
Dataset
FastSync
Content discovery
Recommender
Discovery
OAI identifiers
OAI Resolver
Managing content
Dashboard
Bespoke contracts
Consultancy services
Support us
Support us
Membership
Sponsorship
Community governance
Advisory Board
Board of supporters
Research network
About
About us
Our mission
Team
Blog
FAQs
Contact us
6-DOF主操作手构型设计与空间轨迹规划仿真研究
Authors
刘志东
吕宁
+3 more
常文爽
王青云
赵俊英
Publication date
1 January 2021
Publisher
Editorial Office of Journal of Mechanical Transmission
Doi
Cite
Abstract
主操作手是微创外科手术机器人的关键组成部分,用于接收医生动作,并控制从操作手完成手术操作。在充分研究主操作手使用要求的基础上,分析了主操作手构型设计要求,完成了主操作手的构型设计。结合所设计主操作手的构型,应用Matlab Robotic Toolbox进行了空间运动轨迹规划仿真,得到主操作手关节位移、速度和加速度的变化曲线。结果表明,主操作手构型设计合理,运动平稳,为主操作手的进一步设计与优化奠定了理论基础
Similar works
Full text
Available Versions
Directory of Open Access Journals
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:doaj.org/article:1027b7e26...
Last time updated on 06/04/2023