Multi-optimization of a spherical mechanism for minimally invasive surgery

In order to obtain the remote center motion(RCM) mechanism with better performance indexes and avoid the collision of multi-manipulators in minimally invasive surgery(MIS), a novel multi-objective optimization model was presented. There were two optimization objectives: a global kinematic performanc...

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Veröffentlicht in:	Journal of Central South University 2017-06, Vol.24 (6), p.1406-1417
1. Verfasser:	牛国君潘博张福海封海波付宜利
Format:	Artikel
Sprache:	eng
Schlagworte:	Accuracy Classification Collision avoidance Collision dynamics Cross-sections Degrees of freedom Engineering Genetic algorithms Laparoscopy Links Manipulators Metallic Materials Motors Multiple objective analysis Optimization Performance indices Robot arms Sorting algorithms Stiffness Surgery Wall thickness
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