Optimization of kinetostatic performances and compactness of an in vivo serial robot for minimally invasive surgery

Christophe Drouin (1) , Sylvain Miossec (2) , Carl A. Nelson (3) , Gérard Poisson (1)

1 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
2 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]
3 Applied Mechanisms and Design Lab

In this paper, we optimize the link dimensions of a robot with two serial arms for minimally-invasive surgery, to improve its kinetostatic performance (force, velocity) and its compactness, under the constraint of reachable space. A Pareto curve is plotted to provide the designer all the optimum possible solutions between transmissible velocity, forces, and compactness.

Mots clés: medical robots; optimal design; multiobjective optimization; dimensional synthesis

Domaines: Automatique / Robotique

Christophe Drouin, Sylvain Miossec, Carl A. Nelson, Gérard Poisson. Optimization of kinetostatic performances and compactness of an in vivo serial robot for minimally invasive surgery. 21ème Congres Français de Mécanique, Aug 2013, Bordeaux, France. ⟨hal-00836776v2⟩