Design and Optimization of the Master Manipulator of Minimally Invasive Surgery Robots
Liu Fen
Song Liqiang
Huang Fang
Han Rui
Sang Hongqiang
Abstract：The master manipulator is the only interface for human-robot interaction in robot-assisted min-imally invasive surgery,and it is of great importance to improve the flexibility and compactness of the master ma-nipulator.In this study,an eight-degree of freedom(DOF)series master manipulator is designed,which can re-alize the output of positions,attitude and opening and closing torques.The forward kinematic and inverse kine-matic models of the master manipulator are respectively established by using the improved D-H parameter meth-od and the analytical method,and the workspace of the master manipulator is verified by the Monte Carlo meth-od,which meets its design requirement.The Jacobian matrix of the master manipulator is solved,the comprehen-sive performance index of the master manipulator is defined based on the global performance dexterity index and the workspace utilization ratio,and the key link scale parameters are optimized by the genetic algorithm.The re-sults show that the comprehensive performance index of the master manipulator after optimization is 18.41%higher than that before optimization,and the master manipulator is more compact,has better performance be-sides meeting the design requirements of the workspace.
Keywords：Master manipulatorKinematicsComprehensive performance indexParameter optimiza-tion
Publication Date：2024-05-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：9( 54-61,74 )