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首页> 外文会议>International Conference on Control, Automation and Robotics >Kinematic Analysis and Design of Robot for Cochlear Implant of Perimodiolar Electrode Based on 4-UPU Parallel Mechanism
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Kinematic Analysis and Design of Robot for Cochlear Implant of Perimodiolar Electrode Based on 4-UPU Parallel Mechanism

机译：基于4-UPU并联机构的Perimodiolar电极人工耳蜗的运动学分析与设计

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During the procedure of the implantation of perimodiolar electrode, the doctor needs to coordinate the operation of the electrode implantation and the extraction of the stylet, and needs to change a certain implantation angle to fit the cochlear labyrinth better. These are judged by experience and hand feeling so that the implantation success rate is very low. In order to realize the precise implantation of the cochlear perimodiolar electrode, a 4-UPU parallel robot for cochlear implant of perimodiolar electrode was designed. The kinematics model of the robot was established and analyzed. The degree of freedom (DOF) of the 4-UPU parallel mechanism was analyzed by the spiral theory. The kinematics mathematical model of the parallel mechanism was established. The correctness of the kinematics solution was verified by the joint simulation of Matlab and Adams. A polar coordinate fast-searching method based on Monte Carlo was proposed to analyze the reachable workspace of the parallel mechanism so as to determine the specific structural parameters of the perimodiolar electrode implanted robot, which provides a theoretical basis for the motion control of the robot.
机译：在植入Periodiolar电极的过程中，医生需要协调电极植入的操作和管心针的拔出，并且需要更改一定的植入角度以更好地适应耳蜗迷宫。这些都是通过经验和手感来判断的，因此植入成功率很低。为了实现耳蜗膜周围电极的精确植入，设计了一种4-UPU并联机器人，用于耳蜗膜周围电极的植入。建立并分析了机器人的运动学模型。通过螺旋理论分析了4-UPU并联机构的自由度（DOF）。建立了并联机构的运动学数学模型。 Matlab和Adams的联合仿真验证了运动学解的正确性。提出了一种基于蒙特卡罗的极坐标快速搜索方法，分析了并联机构的可到达工作空间，从而确定了imo电极植入机器人的具体结构参数，为机器人的运动控制提供了理论依据。

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