腹腔微创机器人远心定位机构优化设计
腹腔微创机器人远心定位机构优化设计牛国君，潘博，付宜利（哈尔滨工业大学机器人技术与系统国家重点实验室，黑龙江哈尔滨150001）摘要：提出一种新型的三角形远心定位机构用于腹腔微创手术，该机构简单，刚度高．为得到综合性能较优的三角形远心定位机构，提出了一种新型的多目标优化模型，该模型中包含4 个优化目标函数：全局运动学性能指标、机构紧凑性指标、全局刚度综合性能指标和全局动力学性能指标；3 个约束条件：工作空间约束、机构参数约束和质量约束；2 个设计变量：2 个关节之间夹角．应用非支配遗传算法求解多目标优化问题．根据优化结果建立了三角形远心定位机构实物模型．实验验证了该三角形远心定位机构的有效性．
关键词：微创机器人；远心定位机构；多目标优化；非支配遗传算法
中图分类号：TP242 文献标识码：A 文章编号：1002-0446(2016)-03-0285-08
Optimization and Design of Remote Centre Motion Mechanism for Celiac Minimally Invasive SurgeryNIU Guojun，PAN Bo，FU Yili(State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China)Abstract: A novel triangle-type remote centre motion (RCM) mechanism is proposed to be applied to minimally invasive surgery due to its simple structure and high stiffness. In order to obtain outstanding performance, a new multi-objective optimization model is presented, which consists of four objectives: a global kinematic index, a mechanical compactness index,a global comprehensive stiffness index, and a global dynamic index; three constraints: workspace, mechanical parameters,and mass; two design variables: two angles between two adjacent joints. The non-dominated sorting genetic algorithm-II (NSGA-II) is adopted to solve multi-objective optimization problems. The prototype of the triangle-type RCM mechanism is set up based on the optimization results. The effectiveness of the triangle-type RCM mechanism is validated by an experiment.
Keywords: minimally invasive surgery; RCM (remote centre motion) mechanism; multi-objective optimization; NSGA-II
页:
[1]