腹腔微创机器人远心定位机构优化设计.pdf

第38 卷第3 期 机器人 ROBOT Vol.38, No.3 2016 年5 月 May, 2016 DOI ：10.13973/ki.robot.2016.0285 腹腔微创机器人远心定位机构优化设计 牛国君，潘 博，付宜利 （哈尔滨工业大学机器人技术与系统国家重点实验室，黑龙江 哈尔滨 150001） 摘 要：提出一种新型的三角形远心定位机构用于腹腔微创手术，该机构简单，刚度高．为得到综合性能较 优的三角形远心定位机构，提出了一种新型的多目标优化模型，该模型中包含4 个优化目标函数：全局运动学性 能指标、机构紧凑性指标、全局刚度综合性能指标和全局动力学性能指标；3 个约束条件：工作空间约束、机构参 数约束和质量约束；2 个设计变量：2 个关节之间夹角．应用非支配遗传算法求解多目标优化问题．根据优化结果 建立了三角形远心定位机构实物模型．实验验证了该三角形远心定位机构的有效性． 关键词：微创机器人；远心定位机构；多目标优化；非支配遗传算法 中图分类号：TP242 文献标识码：A 文章编号：1002-0446(2016)-03-0285-08 Optimization and Design of Remote Centre Motion Mechanism for Celiac Minimally Invasive Surgery NIU Guojun ，PAN Bo ，FU Yili (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China) Abstract: A novel triangle-type remote centre motion (RCM) mechanism is proposed to be applied to minimally invasive surgery due to its simple structure and high stiffness. In order to obtain outstanding performance, a new multi-objective optimization model is presented, which consists of four objectives: a global kinematic index, a mechanical compactness index, a global comprehensive stiffness index, and a global dynamic index; three constraints: workspace, mechanical parameters, and mass; two design variables: two angles between two adjacent joints. The non-dominated sorting genetic algorithm-II (NSGA-II) is adopted to solve multi-objective optimization problems. The prototype of the triangle-type RCM mechanism is set up based on the optimization results. The effectiveness of the triangle-type RCM mechanism is validated by an experiment. Ke