Title :
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
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;
Conference_Titel :
Mechatronics and Automation (ICMA), 2015 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-7097-1
DOI :
10.1109/ICMA.2015.7237571
