新型G形臂X光机设计与力学分析

doi:10.3901/JME.2017.15.148

机械工程学报 ›› 2017, Vol. 53 ›› Issue (15): 148-155.doi: 10.3901/JME.2017.15.148

新型G形臂X光机设计与力学分析

曾达幸¹, 郜鹏¹, 樊明洲¹, 张星¹, 侯雨雷¹, 张军²

1. 燕山大学机械工程学院秦皇岛 066004;
2. 北京东方惠尔图像技术有限公司北京 100023

收稿日期:2016-08-01 修回日期:2017-02-25 出版日期:2017-08-05 发布日期:2017-08-05
通讯作者: 侯雨雷(通信作者),男,1980年出生,博士,教授,博士研究生导师。主要研究方向为并联机器人机构及其动力学、复杂机电系统动态综合设计。E-mail:ylhou@ysu.edu.cn
作者简介:曾达幸,男,1978年出生,博士,副教授,硕士研究生导师。主要研究方向为并联机器人、型综合理论,工程机械设计。E-mail:roboms@ysu.edu.cn
基金资助:
国家自然科学基金（51205339）、河北省高等学校科学技术研究青年基金（QN2014175）和河北省科学技术研究与发展计划科技支撑计划（15211826）资助项目。

Design and Mechanics Analysis of a New-type G-arm X-ray Apparatus

ZENG Daxing¹, GAO Peng¹, FAN Mingzhou¹, ZHANG Xing¹, HOU Yulei¹, ZHANG Jun²

1. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
2. Beijing Oriental Whale Image Technology Co. Ltd., Beijing 100023

Received:2016-08-01 Revised:2017-02-25 Online:2017-08-05 Published:2017-08-05

摘要/Abstract

摘要： 为解决现有X光机工作空间不足，及其承载车对地面冲击较大的问题，并缩短X光机调姿的时间，结合手术临床需求，设计一台由双C臂并联构成G形臂的新型X光机。建立X光机的三维模型，取其中的水平C臂进行刚度分析和结构优化。基于D-H法得到水平C臂与全向移动承载车（以下简称承载车）的位姿转换关系，解得G形臂的工作空间。针对承载车在地面全向平动和匀速越障两种情况，建立其静力学模型并进行分析，结果表明承载车能够实现全向平动和仿地形驱动。利用ADAMS软件建立两组不同驱动形式下的承载车越障模型，对比分析两组模型中横滚臂受到震动冲击的大小，结果表明采用中间驱动轮的承载车能够减少地形突变所造成的冲击，从而验证承载车设计的合理性。

关键词: G形臂, X光机, 仿地形驱动, 全向移动承载车

Abstract: Combining with the clinical demands of surgery, a new X-ray apparatus whose G arm is composed of two parallel C arms is designed. The X-ray apparatus can solve the existing problems that the workspace of X-ray machines is insufficient and the shock of the vehicles to ground is relatively serious, meanwhile eliminate the adjustment time of X-ray machines. After building a 3D model of the X-ray apparatus, the stiffness of horizontal C arm is analyzed and its structure is optimized. Based on the method of D-H, the research establishes the transformation relation of position and orientation between the horizontal C arm and the vehicle, and figures out the workspace of the G arm. Aiming at the omnidirectional mobile and uniform obstacle negotiation of the vehicles on the ground, the vehicle's static model is established and analyzed. The results show that the vehicle can realize omnidirectional mobile and be driven by the terrain. Building two obstacle negotiation models under different driving conditions by ADAMS, contrasting and analyzing the impact of the cross arm in two models. The final results show that the vehicle driven by intermediate wheel is able to ease the impact from the terrain mutations, which validates the rationality of design.

Key words: driving based on terrain, G arm, omnidirectional mobile vehicle, X-ray apparatus

中图分类号:

TH772
TH774

曾达幸, 郜鹏, 樊明洲, 张星, 侯雨雷, 张军. 新型G形臂X光机设计与力学分析[J]. 机械工程学报, 2017, 53(15): 148-155.

ZENG Daxing, GAO Peng, FAN Mingzhou, ZHANG Xing, HOU Yulei, ZHANG Jun. Design and Mechanics Analysis of a New-type G-arm X-ray Apparatus[J]. Journal of Mechanical Engineering, 2017, 53(15): 148-155.

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新型G形臂X光机设计与力学分析

Design and Mechanics Analysis of a New-type G-arm X-ray Apparatus

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