Research on Clamping Dexterity of Manipulator and Application of Minimally Invasive Surgery Robot

摘要

The dexterity degree of robot manipulator terminal for clamping can reflect the clamp ability of manipulator to the object, which is an important indicator of the robot performance. By researching deeply on the posture of manipulator , the posture of the clamping object and relation between them when the manipulator clamp the object, the parse expression of the manipulator posture that satisfies requirement that the manipulator clamp the object of the random posture at a clamping point can be deduced, the definition of the clamping dexterity and the procedure algorithm are given by the unit ball. Applying this algorithm on the minimally invasive surgery robot manipulator, this article analyzes the clamping dexterity of the points in its workspace and determines the clamping dexterity space of the fingertip. Research on the clamping dexterity can be used for checking parameters of structure reasonability, so it is significant for the research on the optimal design of mechanism.