手术机器人力感主手不完全重力平衡性能研究
Study on the Gravity Imbalance of Haptic Master of Surgical Robot

结合力感主手动力学方程，分析了主手在不完全重力平衡时，不平衡力对主手力感性能的影响。给出了重力不平衡项的变化范围，以及在不影响力感精度前提下主手的质心位置变化范围，并应用Adams和Matlab软件联合仿真，对主手的透明性在完全重力平衡和不完全重力平衡两种状态下进行分析对比。结果表明：当质心在该范围内时，可以减小机构惯性力，提高力感性能，同时又不会影响主手的刚度和可操作性。
Combining with the dynamic equation of the self-designed haptic device, the effect of the unbalanced force on the the performance of the haptic device is analyzed. Under not influencing the force accuracy, the range of variation of gravity imbalance items and center-of-mass coordinates are presented. Combining with Adams and Matlab, the transparency of the device under both gravity balance and imbalance state is analyzed. As the centroid of haptic device is within this range, the inertial force of device will be reduced and the performance will be also enhanced, but not affecting the stiffness and operability