Kinematic and Dynamic Analysis of Robot for Carrying Human Body in Proton Medical Gantry

The present paper introduces a serial-link robot, named treatment table robot (TTR), which is developed for proton medical equipment and installed on the Rotation Gantry. And the task of TTR is to carry and move patient’s body during treatment, which will keep tumor focus of patient in the center of proton radiation. The TTR plays an important part in the quality improvement of proton medical treatment. Taking the reason into consideration, the TTR has to be designed for easy control and good mechanics property. The forward kinematics and inverse kinematics are studied in the paper. And the dynamic performance of the TTR is investigated by multi-body system simulation using ADAMS software. The study results shows the TTR has excellent kinematic and dynamic performance, so that TTR can satisfy the requirement for proton medical treatment.