Kinematic Analysis of Treatment Table Robot in Proton Radiotherapy Project

This paper introduces a multi-link robot, named treatment table robot (TTR), which has been developed as an important part in protan therapy system SC200. TTR is aimed to carry and move patient's body during treatment, so as to change the space location and poseture of patient'tumour to ensure the proton beem can always focus on it. To realize the requirement, the TTR has been designed as a 6-DOF robot. Based on the builded D-H model, the forward and inverse kinematics are studied. Then the joint trajectory planning has been researched. Finally, ADAMS software was enployed to simulate the kinematic of the TTR, which verified the feasibility of the kinematic algorithm. (paper)