中文摘要：

为了辅助医生更好地完成显微外科手术，开发了一种主从异构的显微外科手术机器人系统——“妙手”系统．“妙手”系统的主手为商业化的Phantom Desktop主手，从手为针对显微外科血管缝合而设计的“妙手”从手．从手包括位置机构和姿态机构．位置机构通过丝传动实现双四连杆机构的运动特性；姿态机构采用三轴交汇于一点的设计思想．通过分析双四连杆机构的运动特性，根据Angeles运动灵活度指标对双四连杆机构进行了优化．结果表明：当双四连杆机构前三级杆等长且Ⅰ级杆与Ⅲ级杆垂直时，机构运动灵活度取最大值．

英文摘要：

In order to assist the surgeon to accomplish micro-surgery better, we develop a new master-slave isomerous micro-surgery robotic system, i. e. ＂MicroHand＂. The master manipulator is Phantom Desktop, which is a commercial robot with comfortable manipulability. The slave manipulator is developed by our lab, which is designed for the micro-surgery. The alave manipulator includes two parts ： position mechanism and orientation mechanism. The position mechanism can implement kinematic characteristics of double four-bar linkage structure by cable driving, and the orientation mechanism applies the structure of three rotating axes intersecting at one point. Based on the kinematic analysis of the double four-bar linkage mechanism and the kinematic conditioning index, we optimize the double four-bar linkage mechanism. The result indicates that the system has the maximal dexterity when the first three links of the double four-bar linkage mechanism have equal length and linkⅠI is perpendicular to link Ⅲ.