Dynamic Simulation Analysis of Six-Degree of Freedom Medical Robotic
Couch for Radiation Therapy
CHEN Jipeng, CHEN Huixian, YANG Xiaolong, LIU Xiaojuan, QIAO Yu, MA Liqiang
1. School of Mechanical and Electrical Engineering, Lanzhou University of Technology, Lanzhou Gansu 730050, China; 2. School of
Mechanical Engineering, Jinzhong University, Jinzhong Shanxi 030600, China
Abstract：Objective To analyze the influence of the change of the patient's gravity on the dynamic characteristics of the medical robotic
couch. Methods Differences among different gravity of tumor patients can cause the change of the dynamic characteristics of the robotic
couch. Thus, we utilized ADMAS software to simulate the influence of tumor patient’s gravity on the dynamic characteristics of the
robotic couch, with the establishment of 3d model of robotic couch using SolidWorks and the obtention of the driving function of
each joint via kinematic simulation using MATLAB robotic toolbox. Finally, we calculated the displacement characteristic curves of
each joint and the displacement deviation of the end center of mass. Results We verified the existence of displacement deviation in
different gravity position of tumor patients on medical robotic couch, and obtained the displacement deviation and torque curve of
end centroid of the medical robotic couch. Under Marker 9-point loading, the displacement deviations of x, y and z directions were
the largest, with 0.82, 2.078 and 1.070 mm, respectively. Conclusion The results can provide the theoretical bases for the following
motion control and position compensation of medical robotic couch.
陈继朋，陈惠贤，杨小龙，刘晓娟，乔宇，马利强. 基于放疗的六自由度医用机械臂动力学仿真分析[J]. 中国医疗设备, 2019, 34(8): 76-80.
CHEN Jipeng, CHEN Huixian, YANG Xiaolong, LIU Xiaojuan, QIAO Yu, MA Liqiang. Dynamic Simulation Analysis of Six-Degree of Freedom Medical Robotic
Couch for Radiation Therapy. China Medical Devices, 2019, 34(8): 76-80.
