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Article Dans Une Revue Robotica Année : 2012

Process of optimisation for a 4 DOF tele-echography robot

Résumé

This paper deals with processes of optimisation for the design of a four degree-of-freedom robot dedicated to remote ultrasound tele-echography. This robot is designed to track the medical gestures of a remote expert moving an ultrasound probe. The goal is to optimise the kinematic structure by fixing the geometric parameters; these have a significant role in robot configuration singularities, with respect to current medical gestures and mechanism compactness. After choosing a dedicated kinematic structure, several optimisations are presented. Then an optimal choice of geometrical parameters of a global function in relation with kinematic performance indices and compactness is proposed. This robot is soon to be used in the experimental medical phase of the Prosit project.
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Dates et versions

hal-00661957 , version 1 (21-01-2012)

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Laurence Nouaille, Pierre Vieyres, Gérard Poisson. Process of optimisation for a 4 DOF tele-echography robot. Robotica, 2012, 30 (07), pp.1131-1145. ⟨10.1017/S0263574711001305⟩. ⟨hal-00661957⟩
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