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Active-passive mixed-connected robot with nine degrees of freedom

A degree of freedom, active and passive technology, applied in surgical robots, manipulators, program-controlled manipulators, etc., can solve the problems of less flexible posture, joint accumulation error, poor rigidity, etc., and achieve the effect of high flexibility and small joint accumulation error.

Inactive Publication Date: 2008-07-23
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The robots in the prior art are pure serial or pure parallel robots. The main disadvantages of this type of robot are: for serial robots, its rigidity is poor, and there are cumulative errors in joints; Poor performance and small workspace

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  • Active-passive mixed-connected robot with nine degrees of freedom
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  • Active-passive mixed-connected robot with nine degrees of freedom

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Embodiment Construction

[0017] The active and passive combined nine-degree-of-freedom hybrid robot of the present invention, as shown in Figure 1, includes a series mechanism and a parallel mechanism, wherein the series mechanism is a passive mechanism with five rotational degrees of freedom, and the series mechanism It includes the base 1, the big arm 2, the small arm 3, and the loop joint 4 which are hinged in sequence; The upper part and the lower part are respectively connected with the upper plane static platform and the lower plane static platform of the double plane static platform 5 through the moving device.

[0018] The base 1 and the big arm 2 of the specific series mechanism are hinged through the first joint I and the second joint II, the rotation axis of the first joint I is vertical, and the rotation axis of the second joint II is horizontal; 2 and the forearm 3 are hinged through the third joint III, the rotation axis of the third joint III is parallel to the rotation axis of the seco...

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Abstract

The invention discloses a nine degrees of freedom (DOFs) mixed connection robot with driving and driven combination, comprising a serial mechanism and a parallel mechanism. The serial mechanism is a driven mechanism, which comprises a base, a large arm, a small arm and a movable joint which are sequentially articulated and has five DOFs; the parallel mechanism is a driving mechanism and comprises a dual plane static platform and a needle frame; the dual plane static platform is connected with a movable joint; the upper part and the lower part of the needle frame are respectively connected with the upper plane static platform and the lower plane static platform of the dual plane static platform through a movable device and has four DOFs. The invention has the advantages of strong flexibility, small accumulated errors of the joint, a plurality of gestures which can be realized by an end surgical instrument, comparatively high smartness and absolute positioning precision, and being suitable for carrying out the surgery under a limited surgery space such as a CT, etc.

Description

technical field [0001] The invention relates to a medical surgical robot, in particular to a nine-degree-of-freedom hybrid robot combining active and passive. Background technique [0002] In recent years, the number and types of medical and surgical robots put into clinical application at home and abroad have been increasing. According to the driving mode, such robots can be divided into: passive type and active type, and according to the topology structure can be divided into: series type and parallel type. The passive type is driven by manpower, without motor, hydraulic or pneumatic drive, and the active type is vice versa; the series type is composed of a set of kinematic chains in series, which belongs to the open-loop mechanism, and the parallel type is formed by parallel connection of two or more branches. Belongs to closed-loop institutions. [0003] The robots in the prior art are pure serial or pure parallel robots. The main disadvantages of this type of robot are...

Claims

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Application Information

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IPC IPC(8): B25J3/00B25J9/00B25J17/00B25J18/00B25J19/00A61B17/00A61B19/00A61B34/35
Inventor 刘达王田苗唐粲
Owner BEIHANG UNIV
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