1、 毕业设计毕业设计( (论文论文) ) 题 目 三自由度绳驱动三自由度绳驱动 RCMRCM 机构设计机构设计 学 号 学生姓名 xxx 专业名称 机械工程及自动化 所在系（院） 电子与自动化 指导教师 年 月 日 I 题目 三自由度绳驱动 RCM 机构设计 摘要 RCM(Remote Center of Motion)机构是一种利用机构实现固定虚拟转动中心的 机构。在微创外科手术中，由于切口的限制, 套管针需要绕着插入点进行转动或移 动，RCM机构就可以为手术工具提供一个相对固定的插入点。这种机构结构简单、控 制方便、成本低，可以提高外科手术的安全性。 基于以上的应用背景，本文开始介绍了三自由
2、度绳驱动RCM机构的定义、优点和 基本原理等，从自由度的定义和计算等初级理论开始，逐步深入分析了经典的两种 RCM机构的构型及双平行四杆型远程运动中心机构的运动原理和等比同向传动型远 程运动中心机构的运动原理，综合了绳驱动的原理和优点。着重阐述了三自由度绳 驱动RCM机构样机的零件设计过程、装配过程。最终实现了用钢丝绳驱动RCM机构末 端执行器绕虚拟远程运动中心二维转动，并可沿着自身轴线进行插入运动。机构具 有结构简单，体积小，重量轻，控制方便和成本低廉等优点。 关键词：远程运动中心 绳驱动 机构设计 手术机器 II Title Three Degrees of Freedom Rope RC
3、M Driven Mechanism Design Abstract RCM (Remote Center of Motion) is a kind of organization with which virtual fixed rotation center can be implemented. In minimally invasive surgery, because of the limitations of the incision, tracer has to rotate or move with the inserting point in due to the cut p
4、osition. However, RCM can provide surgery tools a relatively fixed inserting point. The organization has brief architecture, convenience control, and low cost. RCM can increase the safety level of surgeries. Based on the above background, this paper begins from the definition and advantages of the t
5、hree degrees of freedom cable-driven RCM institutions, then I will introduce the basic principle of cable-driven RCM organization, analyzes the motion principles of the classic organization, which are bi-parallel pole tetrad remote-center-motion organization and the same direction moving remote-cent
6、er-motion organization, and synthesizes the principle and strongpoint of cable-driven organization. This paper will be focuses on the three-degree-of-freedom cable-driven the RCM institutions prototype part design, assembly process. At this project, designing process, assemble process and testing process of 3 Degree-of-Freedom cable-driven RCM organization sample is expati
