摘要
针对固定束重离子治疗室精确放疗需求,设计了一种六自由度医用摆位机器人,提出其机构设计方案,并建立虚拟样机模型。避免利用传统Denavit-Hartenberg(D-H)参数法对机器人进行运动学建模时的缺陷,引入了一种基于李群刚体运动特殊欧式群和旋量理论构建摆位机器人运动学模型的方法;基于所建立的运动学模型,对医用摆位机器人机构件碰撞干涉、工作空间、束流辐照范围进行仿真研究。结果表明:所设计的六自由度医用摆位机器人能满足在连续空间内精确运动和定位的条件,且能很好地满足较大范围内多方向束流辐照的需求。
A six degrees of freedom(6-DOF)medical positioning robot is designed according to the demands for heavy ion accurate radiotherapy in treatment room with fixed beam,the structure scheme is proposed and a virtual prototype model is established.In order to avoid the defects in the kinematics modeling of robots using the traditional Denavit-Hartenberg(D-H)parameter method,a method for kinematics modeling of the medical positioning robot was introduced based on the Special Euclidean Group of Lie group rigid motion and screw theory.On this basis,the mechanism collision interference,the workspace and the beam irradiation range of the positioning robot were investigated with simulation.The results show that the designed 6-DOF medical positioning robot can meet the conditions of accurate movement and positioning in continuous space,and can well meet the needs of multi-directional beam irradiation in a large range.
作者
杨小龙
陈惠贤
陈继朋
乔宇
马利强
姚运萍
YANG Xiaolong;CHEN Huixian;CHEN Jipeng;QIAO Yu;MA Liqiang;YAO Yunping(School of Mechanical and Electronical Engineering,Lanzhou University of Technology,Lanzhou Gansu 730050,China)
出处
《机床与液压》
北大核心
2019年第23期106-110,共5页
Machine Tool & Hydraulics
关键词
放疗
摆位机器人
机构设计
旋量理论
Radiotherapy
Positioning robot
Mechanical design
Screw theory
