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篇目详细内容 |
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【篇名】 |
Synthesis of spherical parallel manipulator for dexterous medical task |
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【刊名】 |
Frontiers of Mechanical Engineering |
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【刊名缩写】 |
Front. Mech. Eng |
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【ISSN】 |
2095-0233 |
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【EISSN】 |
2095-0241 |
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【DOI】 |
10.1007/s11465-012-0325-4 |
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【出版社】 |
Higher Education Press and Springer-Verlag Berlin
Heidelberg |
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【出版年】 |
2012 |
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【卷期】 |
7
卷2期 |
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【页码】 |
150-162
页,共
13
页 |
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【作者】 |
Abdelbadiâ;
CHAKER;
Abdelfattah MLIKA;
Med Amine LARIBI;
Lotfi ROMDHANE;
Saï;
d ZEGHLOUL;
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【关键词】 |
spherical parallel manipulator (SPM); anastomosis; haptic; motion capture; optimization; workspace; dexterity; genetic algorithm; manufacturing errors |
【摘要】 |
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This paper deals with the design and the analysis of a spherical parallel manipulator (SPM) for a haptic minimally invasive surgery application. First the medical task was characterized with the help of a surgeon who performed a suture technique called anastomosis. A Vicon system was used to capture the motion of the surgeon, which yielded the volume swept by the tool during the anastomosis operation. The identified workspace can be represented by a cone with a half vertex angle of 26？ A multi objective optimization procedure based on genetic algorithms was then carried out to find the optimal SPM. Two criteria were considered, i.e., task workspace and mechanism dexterity. The optimized SPM was then analyzed to determine the error on the orientation of the end effector as a function of the manufacturing errors of the different links of the mechanism. |
