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Partial gravity compensation of a surgical robot
- Source :
- International Journal of Advanced Robotic Systems; May 2021, Vol. 18 Issue: 3
- Publication Year :
- 2021
-
Abstract
- 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.
Details
- Language :
- English
- ISSN :
- 17298806 and 17298814
- Volume :
- 18
- Issue :
- 3
- Database :
- Supplemental Index
- Journal :
- International Journal of Advanced Robotic Systems
- Publication Type :
- Periodical
- Accession number :
- ejs56956312
- Full Text :
- https://doi.org/10.1177/17298814211015481