Journal of Shandong University(Engineering Science) ›› 2019, Vol. 49 ›› Issue (6): 73-80.doi: 10.6040/j.issn.1672-3961.0.2019.185

• Control Science & Engineering-Special Topic on Robot • Previous Articles     Next Articles

Configuration design and interference analysis of multi-arm robot for mandible reconstruction

Honghua ZHAO1(),Jian ZHAO1,Xingguang DUAN2,Zhitong HU1,Qianqian TIAN1,Yaohua ZHAO1   

  1. 1. School of Mechanical Engineering, University of Jinan, Jinan 250022, Shandong, China
    2. Intelligent Robotics Institute, Beijing Institute of Technology, Beijing 100081, China
  • Received:2019-04-23 Online:2019-12-20 Published:2019-12-17
  • Supported by:
    国家重点研发计划(2018YFF01013402);国家自然科学基金资助项目(61673064);北京市自然科学基金项目(L182025 & 4192053);山东省自然科学基金项目(ZR2018MF022);山东省重点研发计划项目(2017CXGC0905);山东省重点研发计划项目(2017CXGC1505);山东省重点研发计划项目(2018CXGC0901)

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Abstract:

Based on the requirements of mandible reconstruction surgery and the design criteria of surgical robots, a seven degree of freedom three-arm configuration with active and passive combination was proposed. In order to meet the requirement of high efficiency of interference analysis for manipulator of surgical robot, the linear swept sphere element model was used to simplify the manipulator with complex structure. The interference mathematical models between two cylinders, between cylinders and hemispheres, and between two hemispheres were constructed. The concept of effective interference points and the method of judging the effectiveness of interference points were proposed. The interference judgment of the manipulator at any position was obtained. The experiment of non-interference control verified the correctness of the method by robot platform. The method simplified the criterion and process of interference analysis of basic geometric model, reduced the number of interference judgments between models, and improved the efficiency of interference analysis.

Key words: surgical robot, configuration design, linearly swept sphere, interference analysis, efficiency

CLC Number: 

  • TP242.3

Fig.1

Surgical object of mandible reconstruction"

Fig.2

Robot configuration"

Fig.3

Manipulator configuration"

Fig.4

Physical robot"

Fig.5

Simplification of robot arm"

Fig.6

Area partition of LSS model"

Fig.7

Process of robotic arm interference analysis"

Fig.8

Mathematical model of interference analysis between cylinder and cylinder"

Fig.9

Mathematical model for interference analysis of hemisphere and cylinder"

Fig.10

Mathematical model of interference analysis between hemisphere and hemisphere"

Fig.11

Software of trajectory planning"

Fig.12

Non-interference control"

Fig.13

Motion simulation of joint"

Fig.14

Process of non-interference operation"

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