Device capable of realizing combinatorial motion output of 3PUU (three-prismatic-universal-universal) mechanism and 3UPU (three-universal-prismatic- universal) mechanism

Abstract

The invention discloses a device which is applied to medical mechanical products for precision surgeries and minimally invasive surgeries and the like and other occasions requiring to realize two compound motion modes (macroscopic motion and fine motion adjustment). The device is composed of a working space adjusting mechanism, a 3-DOF (degree of freedom) fine motion mechanism and a 3-translational-motion parallel mechanism, and can realize the motion output of a 3PUU (three-prismatic-universal-universal) mechanism and a 3UPU (three-universal-prismatic- universal) mechanism. A rack (1) of a main body part and a movable operator platform (22) are connected by three branch chains. The structures of the branch chains are exactly same, in case of taking one branch chain for example, from the rack (1), the branch chain connects a spherical swinging block I (3), a sliding channel I (6), a slide block I (9), a hooke hinge I (13), a linear driver I (16), a hooke hinge IV (19) and the movable operator platform (22) together, thereby realizing the function of the whole device. In the process of realizing the motion output of a 3-DOF parallel mechanism, the linear driver I(16), a linear driver II (17) and a linear driver III (18) are the driving devices of the mechanism, and the linear drive-mode input is realized in a hydraulic or ball-screw mode; in the process of realizing the motion output of the 3-DOF fine motion mechanism, the slide block I (9), a slide block II (10) and a slide block II (11) are the driving devices of the mechanism, and the linear drive-mode input is realized in a ball-screw mode; and in the process of realizing the function of the working space adjusting mechanism, an adjusting nut (23) is the driving device of the mechanism, and the rotary drive-mode input is realized through a servo motor.

Description

technical field [0001] The invention relates to a combined parallel mechanism capable of free conversion between a 3PUU mechanism and a 3UPU mechanism, which is suitable for medical mechanical products such as precision surgery and minimally invasive surgery, and other occasions where two compound motion forms of macro motion and micro motion adjustment are required. Background technique [0002] Medical robotics is currently one of the most active and most invested directions in the field of robotics research at home and abroad, and its development prospects are very promising. In recent years, with the development of robot technology, computer image technology, computer control technology and minimally invasive surgical technology, researchers have carried out surgical research on remote operation, which is used for war wound simulation surgery, surgical training and anatomy teaching. High-precision, multi-degree-of-freedom manipulators are the core components of medical r...

AI Technical Summary

Problems solved by technology

The use of multi-mechanisms not only increases the difficulty of motion control, but also increases the number of control nodes, which directly leads to the amplification of accumulated errors, and brings serious consequences such as difficulty in guaranteeing motion accuracy and redundancy in the control system, or even difficult to control

[0003] Usually, the designer controls the positioning and attitude control mechanism separately. However, this method makes the terminal operation movement of the medical robot incoherent. Sometimes, the accuracy of motion displacement does not meet the requirements, which leads to increased treatment time and even serious consequences of treatment failure.

At present, there are also scientific research institutions designing multi-system integrated control systems to address this problem. This method will generate more control system variables, resulting in increased uncertainty in system output. There are potential safety hazards and cannot completely solve the problem.

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