Kinematics Analysis and Simulation of the Oral Flexible Surgery Robot

Continuous robot is a series robot with high flexibility, which is widely used in industrial automation, medical treatment, aerospace, ocean, and other fields. Because the joint axes of the robot designed in this paper are perpendicular to each other, and the robot is driven by wire rope, the traditional D-H matrix method applied to the robot with the connecting rod cannot directly carry out the kinematic analysis. Firstly, the traditional D-H method and the elastic body constant curvature deflection theory are applied to the kinematics modeling of the wire rope driven tandem joint robot, and the mapping relations of its driving space, joint space and operation space are analyzed. Secondly, the three-dimensional working space is drawn in MATLAB, and a prototype is prepared. Finally, the principle prototype test was carried out, and the linear error at the end was less than 2.5mm. The experimental results verified the feasibility of the mechanism design and kinematic model of the robot.