基于介电弹性体驱动的MRI相容操作手系统模型及控制方法研究

项目名称： 基于介电弹性体驱动的MRI相容操作手系统模型及控制方法研究

项目编号： No.51205076

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 机械工程学科

项目作者： 赵建文

作者单位： 哈尔滨工业大学

项目金额： 25万元

中文摘要： MRI相容操作手是外科手术机器人发展的一个新兴方向。针对现有驱动方式与MRI环境不能完全兼容的状况，将介电弹性体驱动方式引入到MRI相容操作手的设计中。考虑到介电弹性体柔性驱动的特点，选择变几何桁架机构作为操作手构型。为实现操作手的精确轨迹控制，提出一种基于连续电压调节来实现介电弹性体驱动器连续精确位移输出的构想；通过介电弹性体驱动器电致变形的机理分析和操作手的刚度分析，建立驱动器和操作手的系统模型，揭示介电弹性体参数、机构参数、加载电压、预载荷对驱动器和操作手输出位移、输出力的影响规律，为操作手的设计提供理论依据。借助系统模型得到加载电压与操作手输出力、输出位移的定量关系，进而利用力位混合控制方法实现操作手探针输出力和位移的精确调节。课题对MRI相容操作手及柔性操作手术机器人的发展具有重要意义，同时也可以为轻型移动机械臂的发展提供新的思路。

中文关键词： 介电弹性体；软驱动器；软关节；软体机器人；

英文摘要： MRI-compatible manipulator is a rising topic of surgery robot. Since the conventional actuators are not completely compatible with MRI environment, the dielectric elastomer actuator (DEA) has been introduced to the development of MRI-compatible manipulator. Considering the flexible actuator characteristic of dielectric elastomer, a Variable Geometry Truss is chosen to construct the manipulator. To achieve the accurate control of manipulator trajectory, an idea was proposed based on continuous adjustment of the power supply voltage which results in continuous and accurate displacement output of DEA. Based on analysis of DEA electrostrictive strain characteristics and manipulator regidity, system model of the actuators and the manipulator has been established, which is expected to describe the influence of the dielectric elastomer parameters, mechanism parameters, power supply voltage, and preload on the displacement and output force of the actuator and the manipulator. We hope this could benefit the manipulator design. The quantitative ralationship between the voltage and the manipulator's output force can be obtained by this model, so the force and displacement can be accurately adjusted by the Hybrid Force/Position Control. This research can benefit development of MRI-compatible manipulator and flexble surgery

英文关键词： dielectric elastomer；soft actuator；soft rotary joint；soft robotics；