Singularity Analysis and Geometric Optimization of a 6-DOF Parallel Robot for SILS

被引：5
|
作者：
Pisla, Doina [1 ]
Birlescu, Iosif [1 ]
Crisan, Nicolae [2 ]
Pusca, Alexandru [1 ]
Andras, Iulia [2 ]
Tucan, Paul [1 ]
Radu, Corina [3 ]
Gherman, Bogdan [1 ]
Vaida, Calin [1 ]
机构：
[1] Tech Univ Cluj Napoca, Res Ctr Ind Robots Simulat & Testing CESTER, Cluj Napoca 400641, Romania
[2] Iuliu Hatieganu Univ Med & Pharm, Dept Urol, Cluj Napoca 400000, Romania
[3] Iuliu Hatieganu Univ Med & Pharm, Dept Internal Med, Cluj Napoca 400000, Romania
来源：
MACHINES | 2022年 / 10卷 / 09期
关键词：
parallel robot; singularity analysis; geometric optimization; single-incision laparoscopic surgery; MECHANISM;
D O I：
10.3390/machines10090764
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
The paper presents the singularity analysis and the geometric optimization of a 6-DOF (Degrees of Freedom) parallel robot for SILS (Single-Incision Laparoscopic Surgery). Based on a defined set of input/output constraint equations, the singularities of the parallel robotic system are determined and geometrically interpreted. Then, the geometric parameters (e.g., the lengths of the mechanism links) for the 6-DOF parallel robot for SILS are optimized such that the robotic system complies with an operational workspace defined in correlation with the SILS task. A numerical analysis of the singularities showed that the operational workspace is singularity free. Furthermore, numerical simulations validate the parallel robot for the next developing stages (e.g., designing and prototyping stages).
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收藏
页数：27
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