Kinematics Analysis and Performance Optimization of a Parallel Manipulator for Minimally Invasive Surgery

doi:10.3901/JME.2020.19.103

Abstract

Abstract: Compared with serial manipulators, parallel manipulators have the advantages of good rigidity, high precision and quick response, which are suitable for medical field. Operations in minimally invasive biopsies require robotic manipulators that can output remote center of motion. A novel parallel manipulator with remote center of motion is proposed for minimally invasive surgery. Each limb of the parallel manipulator includes a closed-loop parallelogram. Mobility analysis is carried out based on screw theory, which shows the manipulator has two rotational and one translational degrees of freedom passing through a fixed remote center. Mapping between the input parameters and the end-effector output parameters is obtained through position analysis. Jacobian matrix is established based on velocity analysis, which is used to determine the singular configurations of the manipulator. It has inverse singularities, direct singularities and combined singularities. Workspace is obtained using a search method. Performance analysis is conducted based on the motion/force transmission index. Performance distributions in the workspace are sketched. Optimal design is carried out to improve the global performance of the parallel manipulator.

Key words: parallel manipulator, minimally invasive surgery, screw theory, workspace, performance index

CLC Number:

TH112

YE Wei, XIE Zhentao, LI Qinchuan. Kinematics Analysis and Performance Optimization of a Parallel Manipulator for Minimally Invasive Surgery[J]. Journal of Mechanical Engineering, 2020, 56(19): 103-112.

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