为显微手术机器人设计了可快速分析工作空间与传动动力学的框架。
Geometric Workspace Analysis and Transmission-Aware Dynamics of a Serial Spherical Tool for Microsurgery
- 基于几何解析方法，无需优化即可快速确定旋转轴方向。
- 提出传动自锁机制下的动力学评估方法，精准计算所需扭矩。
- 开源工具支持摩擦识别与逆向动力学分析，适合外科机器人研发者。
本文针对一种具有附加平移自由度的串联球形机构，提出了一种运动学与传动感知的设计框架，用于显微手术。首个贡献是建立解析式工作空间模型，提供可达运动的几何洞察，实现无需数值优化即可快速选择旋转轴方向。第二个贡献是面向自锁传动机制的动力学分析方法，可用于评估特定工作空间几何下的扭矩需求。该框架配套开源软件包，支持摩擦参数识别与逆向动力学分析。在专为玻璃体视网膜手术设计的机器人工具上开展实验，验证了模型的预测能力，并展示了其在工程设计中的实际应用价值。
原文摘要 · Abstract (English)
We present a kinematic and transmission-aware design framework for a serial spherical mechanism with an additional translational degree of freedom for microsurgery. The first contribution is an analytical workspace formulation that provides geometric insight into reachable motion and enables rapid selection of rotation axis orientations without numerical optimization. The second contribution is a dynamics-informed methodology for mechanisms driven by self-locking transmissions, supporting evaluation of torque requirements for a prescribed workspace geometry. The framework is accompanied by an open-source software package for friction identification and inverse dynamics analysis. Experiments on a purpose-built robotic tool for vitreoretinal surgery validate the predictive capability of the models and demonstrate their practical utility for engineering design.
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