设计两款四自由度并联机器人，用于微创胰腺手术
Design Analysis of an Innovative Parallel Robot for Minimally Invasive Pancreatic Surgery
- 提出两种四自由度并联结构ATHENA-1与ATHENA-2
- FEM仿真显示其中一种结构刚度更高，工作空间更优
- 为后续实验样机开发提供设计依据
本文聚焦于一种用于机器人辅助微创胰腺手术的并联机器人设计。提出了两种具有4个自由度（DOF）的替代构型，分别命名为ATHENA-1和ATHENA-2。文中展示了其运动学方案，并提供了概念性3D CAD模型。基于此，进行了两项有限元法（FEM）仿真，以评估两种构型的刚度性能。进一步开展了工作空间定量分析，评估其在医疗任务中的可用性。最终结果用于筛选符合设计要求的构型，并将用于手术机器人的实验样机开发。
原文摘要 · Abstract (English)
This paper focuses on the design of a parallel robot designed for robotic assisted minimally invasive pancreatic surgery. Two alternative architectures, called ATHENA-1 and ATHENA-2, each with 4 degrees of freedom (DOF) are proposed. Their kinematic schemes are presented, and the conceptual 3D CAD models are illustrated. Based on these, two Finite Element Method (FEM) simulations were performed to determine which architecture has the higher stiffness. A workspace quantitative analysis is performed to further assess the usability of the two proposed parallel architectures related to the medical tasks. The obtained results are used to select the architecture which fit the required design criteria and will be used to develop the experimental model of the surgical robot.
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