Dimensional optimization of a minimally invasive surgical robot system based on NSGA-II algorithm

被引：11
|
作者：
Wang, Wei [1 ]
Wang, Weidong [1 ]
Dong, Wei [1 ]
Yu, Hongjian [1 ]
Yan, Zhiyuan [1 ]
Du, Zhijiang [1 ]
机构：
[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150080, Peoples R China
来源：
ADVANCES IN MECHANICAL ENGINEERING | 2015年 / 7卷 / 02期
关键词：
NSGA-II; minimally invasive surgical robot system; dimensional optimization;
D O I：
10.1177/1687814014568541
中图分类号：
O414.1 [热力学];
学科分类号：
摘要：
Based on the proposed end-effector structure of a laparoscopic minimally invasive surgical manipulator, a dimensional optimization method is investigated to enlarge the motion range of the mechanical arm in the specific target area and reduce the collision among the mechanical arms simultaneously. Both the length of the kinematics links and the overall size of the integrated system are considered in the optimization process. The NSGA-II algorithm oriented to the multi-objective optimization is utilized to calculate the Pareto solution set of the objective function. Finally, the dependence of the evaluation indexes is analysed to filter the non-inferior set, which guarantees the selection of the optimization solution.
引用
收藏
页码：1 / 11
页数：11
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