期刊名称:International Journal of Advanced Robotic Systems
印刷版ISSN:1729-8806
电子版ISSN:1729-8814
出版年度:2021
卷号:18
期号:3
页码:1
DOI:10.1177/17298814211015481
出版社:SAGE Publications
摘要:Surgical robots are safety-critical devices that require multiple domains of safety features. This article focuses on the passive gravity compensation design optimization of a surgical robot. The limits of this optimization are related with the safety features including minimization of the total moving mass/inertia and compactness of the design. The particle swarm optimization method is used as a novel approach for the optimization of a parallel remote-center-of-motion mechanism. A compact design is achieved by partially balancing the mechanism, which also decreases the torque requirements from the actuators.