面向骨折复位手术的冗余并联机构：设计、建模与性能分析

doi:10.3901/JME.2024.17.133

机械工程学报 ›› 2024, Vol. 60 ›› Issue (17): 133-146.doi: 10.3901/JME.2024.17.133

• 特邀专栏：面向人民生命健康的机器人技术 • 上一篇下一篇

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面向骨折复位手术的冗余并联机构：设计、建模与性能分析

梁旭¹, 张建勇², 李国涛³, 苏婷婷⁴, 何广平², 侯增广^3,5

1. 北京交通大学自动化与智能学院北京 100044;
2. 北方工业大学机械与材料工程学院北京 100144;
3. 中国科学院自动化研究所北京 100190;
4. 北京工业大学信息学部北京 100124;
5. 中国科学院大学人工智能学院北京 100049

收稿日期:2023-08-08 修回日期:2024-03-27 发布日期:2024-10-21
作者简介:梁旭，男，1991年出生，博士，讲师。主要研究方向为医疗康复机器人、骨科手术机器人和人机交互。E-mail:liangxu2013@ia.ac.cn
张建勇，男，1999年出生，硕士研究生。主要研究方向为骨科机器人。E-mail:zjy1239105401@163.com
苏婷婷(通信作者)，女，1991年出生，博士，副研究员。主要研究方向为先进机器人技术、骨科机器人和智能控制。E-mail:sutingting@bjut.edu.cn
侯增广，男，1969年出生，博士，研究员。主要研究方向为机器人与智能系统、康复机器人和微创介入手术机器人。E-mail:zengguang.hou@ia.ac.cn
基金资助:
国家自然科学基金(62373013,62103412,U22A2056,62103007,62003005)、北京市教育委员会科学研究计划(KM202110009009,KM202210009010)、北京市科技计划(Z211100007921021)国家重点研发计划(2023YFE0202100)、北京市自然科学基金(L222053,L202020,L222058,4204097)和北京交通大学人才基金(KAIXKRC24003532)资助项目。

Redundant Parallel Mechanism for Fracture Reduction Surgery: Design, Modeling and Performance Analysis

LIANG Xu¹, ZHANG Jianyong², LI Guotao³, SU Tingting⁴, HE Guangping², HOU Zengguang^3,5

1. School of Automation and Intelligence, Beijing Jiaotong University, Beijing 100044;
2. School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100144;
3. Institute of Automation, Chinese Academy of Sciences, Beijing 100190;
4. Faculty of Information Technology, Beijing University of Technology, Beijing 100124;
5. School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049

Received:2023-08-08 Revised:2024-03-27 Published:2024-10-21

摘要/Abstract

摘要： 针对并联骨科机器人在微创骨折复位手术中工作空间相对较小、规避奇异位形能力相对较弱等问题，提出一种基于Gough-Stewart平台(Gough-Stewart parallel mechanism, GSPM)的新型运动学冗余并联机构。对所提新型冗余并联机构进行了介绍，建立了该新型机构的运动学模型，并对其工作空间进行了仿真。基于三点法构建了维度齐次雅可比矩阵，比较了该新型并联机构和GSPM的灵巧性与奇异性。采用多变量多目标优化方法对所提出的新型并联机构的几何参数进行了优化。最后，在3D打印样机上进行了实验，实验结果表明：相比GSPM，新型并联机构的工作空间体积扩展了273.5%，且灵巧性更优，验证了仿真和分析方法的有效性。

关键词: 冗余并联机构, 工作空间, 多目标优化, 奇异性, 灵巧性

Abstract: To solve the problems of relatively limited workspace and relatively weak ability to avoid singular configurations of parallel orthopedic robots in minimally invasive fracture reduction surgery, a new kinematic redundant parallel mechanism is proposed based on Gough-Stewart parallel mechanism (GSPM). The structure of the proposed parallel mechanism is introduced, its kinematics and dynamics are established, and its workspace is simulated. The dexterity and singularity of the GSPM and the proposed parallel mechanism are analyzed based on the dimensionally homogeneous Jacobian matrix. The multi-objective optimization method is used to optimize the geometric parameters of the proposed parallel mechanism. Experiments are conducted on the 3D printing prototype. It is shown that, compared with the GSPM, the workspace volume of the proposed parallel mechanism is expanded by 273.5 %, and its dexterity is better, which verifies the effectiveness of the simulation and analysis methods.

Key words: redundant parallel mechanism, workspace, multi-objective optimization, singularity, dexterity

中图分类号:

TG156

梁旭, 张建勇, 李国涛, 苏婷婷, 何广平, 侯增广. 面向骨折复位手术的冗余并联机构：设计、建模与性能分析[J]. 机械工程学报, 2024, 60(17): 133-146.

LIANG Xu, ZHANG Jianyong, LI Guotao, SU Tingting, HE Guangping, HOU Zengguang. Redundant Parallel Mechanism for Fracture Reduction Surgery: Design, Modeling and Performance Analysis[J]. Journal of Mechanical Engineering, 2024, 60(17): 133-146.

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面向骨折复位手术的冗余并联机构：设计、建模与性能分析

Redundant Parallel Mechanism for Fracture Reduction Surgery: Design, Modeling and Performance Analysis

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