Abstract
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).
Funder
Unitatea Executiva Pentru Finantarea Invatamantului Superior a Cercetarii Dezvoltarii si Inovarii
European Social Found
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Control and Optimization,Mechanical Engineering,Computer Science (miscellaneous),Control and Systems Engineering
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