Honghua Zhao

With the rapid development of medical collaborative robot technology, end-effector with single function has been difficult to meet the needs of clinical surgery. Medical collaborative robots in clinical surgery have caused problems such as increased riskiness of surgery, delayed treatment time, and occupation of healthcare resources because of the narrow operating space, single execution operation, and troublesome replacement of surgical instruments. In this paper, a lightweight, compact and flexible end-tool device is designed so that it has mechanical feedback and temperature feedback and quick-change function. Designing the overall structure of the device and constructing equipment selection and experimental platform, system control used the host computer to write the control program to achieve the end of the actuator of the quick-change function, and analyzed the quick-change module force and strength, and combined with the finite element analysis software ANSYS Workbench on the strength of the key components for the check, to verify the reliability of the structure of the device and the rationality of the device.

In the application process of industrial robots, it is necessary to ensure that the home position is correct when the robot changes the end tool, so that the coordinate values of tool can be calculated more accurately and the accuracy of the robot’s trajectory can be satisfied. A comprehensive calibration method of tool coordinates and home position of serial industrial robots based on fixed-point constraints is presented in this paper. Based on Denavit-Hartenberg (D-H) kinematics theory, the error models of tool coordinates and home position errors of 6-DOF serial industrial robots are established. By constraining the tool center point (TCP) of the robot with fixed points, the joint data of calibration points with different postures at the same position are collected, and the error value of the controlled object is identified by the least square algorithm. The calibration experiment results are basically consistent with the factory calibration parameters, which proves the feasibility of the calibration algorithm.

A multi-arm robot for mandible reconstruction assisted surgery is developed. It has three manipulators and eighteen degrees of freedom. In order to prevent the collision of the manipulator caused by the overlap of the motion space of the manipulator during the space positioning of the whole mandible reconstruction operation, a collision avoidance path planning method for manipulator based on C-space is proposed. In order to obtain the space non-interference posture of one manipulator, and the interference posture of the other manipulators is taken as the obstacle mapping in C-space to obtain the free space after removing obstacles. At the same time, combining with the space position of the system manipulator, the C-space mapping mathematical model of feature points and line segments is studied, and the mapping mathematical model of any point and line segments in the plane is obtained. By introducing admissibility proof lemma to weigh the evaluation function, the improved heuristic A* search algorithm is used to search the best path for collision avoidance. The collision avoidance experiment is carried out through simulation and robot platform, and finally the animal experiment is carried out. The experimental results verify the feasibility and validity of the collision avoidance path planning method for the space manipulator.

Based on the status of thyroid nodule puncture diagnosis, a 6-DOF puncture surgery robot is studied. The structure of the robot is combined with active and passive to increase the flexibility of the robot. The weight of the arm and the execution end is reduced by remote driving. A new type of fixed-point puncture mechanism was designed, and two driving modes were analyzed. Kinematics models were constructed respectively. A new rope winding method to prevent falling off was proposed. The D-H method is used to analyze the kinematics of the robot and the kinematics model is established. The kinematics model of fixed-point puncture and the workspace of the robot are simulated and analyzed by using MATLAB. The results show that the configuration of the robot and the design of the fixed-point puncture mechanism are reasonable.

With the development of the assembly building and the increasing demand of the wall plate, it is important to realize the efficient and automatic production of the wallboard. The main task of the end of the wallboard automation production line is to deliver the wallboard to the kiln. At present, the wallboard production line is mostly realized by the track folding car, the process is complicated and the cost is high. Based on this, the paper designs the PLC-based kiln system and the Meinam wheel-based handling system respectively, which can be effectively combined through the ranging sensor device etc., so as to ensure the accuracy and reliability of the wallboard to kiln. The control system for the delivery of the wallboard to kiln introduced in this paper can effectively reduce the construction of the plant area under the premise of ensuring the accuracy work.