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

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

Inactive Publication Date: 2009-11-18
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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, its preferred specific implementation is as follows figure 1 As shown, it includes a series mechanism and a parallel mechanism. The series mechanism is a passive mechanism with five rotational degrees of freedom. The series mechanism includes a base 1, a large arm 2, a small arm 3, and a loop joint 4 that are sequentially hinged; the parallel mechanism includes The double-plane static platform 5 and the needle holder 8 are connected to the looper joint 4, and the upper and lower parts of the needle holder 8 are respectively connected to the upper and lower plane static platforms of the double-plane static platform 5 through the mobile 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 horiz...

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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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Patent Type & Authority Patents(China)
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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