Optimization of kinetostatic performances and compactness of an in vivo serial robot for minimally invasive surgery
Résumé
In this paper, we optimize the link dimensions of a robot with two serial arms for minimally-invasive surgery, to improve its kinetostatic performance (force, velocity) and its compactness, under the constraint of reachable space. A Pareto curve is plotted to provide the designer all the optimum possible solutions between transmissible velocity, forces, and compactness.
| Origine | Fichiers produits par l'(les) auteur(s) |
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