热因素对线控穿刺机器人精度稳定性的影响

doi:10.13229/j.cnki.jdxbgxb.20240399

摘要/Abstract

摘要：

针对变路径线控机器人微米级精度微创过程，进行温度因素对穿刺精度的影响规律研究。采用热分析和结构力学分析融合的方法，获得了关键穿刺针部件非均匀温度场和结构形变特性。结合正交实验分析方法，分析了瞬态和稳态温度变化对穿刺针部件变动的影响。结果表明：23~40 ℃的瞬态和稳态温度对微米级穿刺精度影响显著，两种温度条件的精度影响指标一致：工艺参数40 ℃-3.1 mm-3 mm/s的穿刺针热变形量最大为0.012 mm，对应的系统影响量达到0.1 mm左右；另外，基于临床穿刺工艺特点，通过3因素5水平的方差分析和回归分析，揭示了钛镍合金穿刺针热因素导致的非均匀热变形规律及影响穿刺精度的温度T大于穿刺针直径D和进针速度V的影响。

关键词: 热影响, 变路径穿刺, 精密微创, 实验分析

Abstract:

This article focuses on the micro invasive process of variable path wire controlled robots with micrometer precision， and studies the influence of temperature factors on puncture accuracy. By integrating thermal analysis and structural mechanics analysis， the non-uniform temperature field and structural deformation characteristics of key puncture needle components were obtained. By combining the orthogonal experimental analysis method， the influence of transient and steady-state temperature changes on the changes of puncture needle components was analyzed. The results show that the transient and steady-state temperatures from 23 ℃ to 40 ℃ have a significant impact on the precision of micrometer level puncture， and the accuracy impact indicators of the two temperature conditions are consistent： the maximum thermal deformation of the puncture needle with process parameters of 40 ℃-3.1 mm-3 mm/s is 0.012 mm， and the corresponding system impact reaches about 0.1 mm； In addition， based on the characteristics of clinical puncture technology， a 3-factor 5-level analysis of variance and regression analysis were conducted to reveal the non-uniform thermal deformation law caused by thermal factors of titanium nickel alloy puncture needles and the influence of temperature T on puncture accuracy， which is greater than the diameter D of the puncture needle and the injection speed V.

Key words: thermal effect, flexible wire-controlled puncture, precision minimally invasive, experiment analysis

中图分类号:

TP242

王冠斌,孙椰望,高鹏凯,杨鲁伟. 热因素对线控穿刺机器人精度稳定性的影响[J]. 吉林大学学报(工学版), 2025, 55(4): 1225-1231.

Guan-bin WANG,Ye-wang SUN,Peng-kai GAO,Lu-wei YANG. Influence of thermal factors on precision stability of wire-controlled puncture robot[J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(4): 1225-1231.

图/表 8

图1

图2

图3

图4

图5

表1

热因素对穿刺针位移变动影响的正交实验分析数据"

序号	1（ $T$ ）/℃	2（ $D$ ）/mm	3（ $V$ ）/（mm·s^-1）	热位移/mm
1	23	2.3	1	5.832 7×10??
2	23	2.5	3	6.613 1×10??
3	23	2.7	5	6.669 2×10??
4	23	2.9	8	6.779 6×10??
5	23	3.1	10	6.829 1×10??
6	30	2.3	3	5.268 7×10?³
7	30	2.5	5	5.290 3×10?³
8	30	2.7	8	5.335 4×10?³
9	30	2.9	10	5.423 7×10?³
10	30	3.1	1	5.463 3×10?³
11	37	2.3	5	9.878 7×10?³
12	37	2.5	8	9.919 4×10?³
13	37	2.7	10	1.000 4×10?²
14	37	2.9	1	1.016 9×10?²
15	37	3.1	3	1.024 4×10?²
16	39	2.3	8	1.119 6×10?²
17	39	2.5	10	1.124 2×10?²
18	39	2.7	1	1.133 8×10?²
19	39	2.9	3	1.154 3×10?²
20	39	3.1	5	1.160 9×10?²
21	40	2.3	10	1.185 4×10?²
22	40	2.5	1	1.190 3×10?²
23	40	2.7	3	1.200 5×10?²
24	40	2.9	5	1.220 3×10?²
25	40	3.1	8	1.229 2×10?²

表1

表2

方差分析"

因素	偏差平方和	自由度	方差估计	F值	F_0.1（4，4）	F_0.05（4，4）	显著性
$T$	10.9	4	5.4	15.2	9.0	19.0	显著
$D$	1.5	4	0.7	2.1	9.0	19.0	不显著
$V$	0.7	4	0.3	1.0	9.0	19.0	不显著

表2

表3

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