Optimal design of dynamic balancing for the redundant orientation mechanism of a master manipulator

Author

Lihong Chen ; Zhiyuan Yan ; Zhijiang Du

Author_Institution

State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China

fYear

2015

fDate

2-5 Aug. 2015

Firstpage

704

Lastpage

708

Abstract

A methodology of combining counterweight and actuator torque is proposed to achieve the dynamic balancing for the redundant orientation mechanism of a master manipulator (ROMMM) which is applied for minimally invasive laparoscopic surgery. With the method of Kane, the dynamic model of the ROMMM is established to obtain the required actuator torque for balancing. Simulated annealing is applied to optimize the counterweights based on the moment of inertia and actuator torque. The optimization reduces the required actuator torque for the dynamic balancing significantly. In addition, the dynamic performance of the ROMMM is improved greatly.

Keywords

actuators; medical robotics; redundant manipulators; surgery; Kane method; ROMMM dynamic model; actuator torque; counterweight optimization; minimally invasive laparoscopic surgery; moment of inertia; optimal dynamic balancing design; redundant orientation mechanism of a master manipulator; simulated annealing; Acceleration; Actuators; Joints; Manipulator dynamics; Optimization; Torque; Counterweight optimization; Dynamic balancing; Redundant orientation mechanism of a master manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2015 IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4799-7097-1

Type

conf

DOI

10.1109/ICMA.2015.7237571

Filename

7237571