The kinematics and workspace analysis of a seven DOF minimally invasive surgical robot

According to the working characteristics and design principles ,a small,compact robot seven DOF redundant robot was presented. The robot with The forward solution was solved by D-H methods,by using MATLAB software programming.To validate the forward solution,we enter the relevant parameters positive solutions intial values. Reverse the results of the study. Based on a random probability of the Monte Carlo method,according to joint space to the mapping work space,robots have been the work space. The three-dimensional space,in accordance with each layer by layer of the border curve on the basis of principles adopted by the envelope of space shape and size of the surface expression. On this basis,the definition and for the operating room for surgical robot and use MATLAB software simulation of the robot's structural parameters of the robot's work space impact. The research results have proved that the designed configuration can satisfy the needs of surgical action,which will provide a theoretical reference for the robot trajectory planning,dynamic analysis and online real-time calculation.