Design and Optimization of the Master Manipulator of Minimally Invasive Surgery Robots
The master manipulator is the only interface for human-robot interaction in robot-assisted minimally invasive surgery, and it is of great importance to improve the flexibility and compactness of the master manipulator. In this study, an eight-degree of freedom （DOF） series master manipulator is desi...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-05-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.05.008 |
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| _version_ | 1841546947318513664 |
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| author | Liu Fen Song Liqiang Huang Fang Han Rui Sang Hongqiang |
| author_facet | Liu Fen Song Liqiang Huang Fang Han Rui Sang Hongqiang |
| author_sort | Liu Fen |
| collection | DOAJ |
| description | The master manipulator is the only interface for human-robot interaction in robot-assisted minimally invasive surgery, and it is of great importance to improve the flexibility and compactness of the master manipulator. In this study, an eight-degree of freedom （DOF） series master manipulator is designed, which can realize the output of positions, attitude and opening and closing torques. The forward kinematic and inverse kinematic models of the master manipulator are respectively established by using the improved D-H parameter method and the analytical method, and the workspace of the master manipulator is verified by the Monte Carlo method, which meets its design requirement. The Jacobian matrix of the master manipulator is solved, the comprehensive performance index of the master manipulator is defined based on the global performance dexterity index and the workspace utilization ratio, and the key link scale parameters are optimized by the genetic algorithm. The results show that the comprehensive performance index of the master manipulator after optimization is 18.41% higher than that before optimization, and the master manipulator is more compact, has better performance besides meeting the design requirements of the workspace. |
| format | Article |
| id | doaj-art-785905026a894474aea42b9fe9268722 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-05-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-785905026a894474aea42b9fe92687222025-01-10T15:00:31ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-05-0148546159003672Design and Optimization of the Master Manipulator of Minimally Invasive Surgery RobotsLiu FenSong LiqiangHuang FangHan RuiSang HongqiangThe master manipulator is the only interface for human-robot interaction in robot-assisted minimally invasive surgery, and it is of great importance to improve the flexibility and compactness of the master manipulator. In this study, an eight-degree of freedom （DOF） series master manipulator is designed, which can realize the output of positions, attitude and opening and closing torques. The forward kinematic and inverse kinematic models of the master manipulator are respectively established by using the improved D-H parameter method and the analytical method, and the workspace of the master manipulator is verified by the Monte Carlo method, which meets its design requirement. The Jacobian matrix of the master manipulator is solved, the comprehensive performance index of the master manipulator is defined based on the global performance dexterity index and the workspace utilization ratio, and the key link scale parameters are optimized by the genetic algorithm. The results show that the comprehensive performance index of the master manipulator after optimization is 18.41% higher than that before optimization, and the master manipulator is more compact, has better performance besides meeting the design requirements of the workspace.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.05.008Master manipulatorKinematicsComprehensive performance indexParameter optimization |
| spellingShingle | Liu Fen Song Liqiang Huang Fang Han Rui Sang Hongqiang Design and Optimization of the Master Manipulator of Minimally Invasive Surgery Robots Jixie chuandong Master manipulator Kinematics Comprehensive performance index Parameter optimization |
| title | Design and Optimization of the Master Manipulator of Minimally Invasive Surgery Robots |
| title_full | Design and Optimization of the Master Manipulator of Minimally Invasive Surgery Robots |
| title_fullStr | Design and Optimization of the Master Manipulator of Minimally Invasive Surgery Robots |
| title_full_unstemmed | Design and Optimization of the Master Manipulator of Minimally Invasive Surgery Robots |
| title_short | Design and Optimization of the Master Manipulator of Minimally Invasive Surgery Robots |
| title_sort | design and optimization of the master manipulator of minimally invasive surgery robots |
| topic | Master manipulator Kinematics Comprehensive performance index Parameter optimization |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.05.008 |
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