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).

引用

页数：27

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