Calculation strength optimum of surgical robot effector for mechanical eigenproblems using FEM and genetic algorithm

• Autorzy: Ilewicz Grzegorz

Identyfikatory

DOI

10.21008/j.0860-6897.2023.1.06

• Języki publikacji: EN

Abstrakty

EN

It is essential to check whether the surgical robot end effector is safe to use due to phenomena such as linear buckling and mechanical resonance. The aim of this research is to build an multi criteria optimization model based on such criteria as the first natural frequency, buckling factor and mass, with the assumption of the basic constraint in the form of a safety factor. The calculations are performed for a serial structure of surgical robot end effector with six degrees of freedom ended with a scalpel. The calculation model is obtained using the finite element method. The issue of multi-criteria optimization is solved based on the response surface method, Pareto fronts and the genetic algorithm. The results section illustrates deformations of a surgical robot end effector occurring during the resonance phenomenon and the buckling deformations for subsequent values of the buckling coefficients. The dependencies of the geometrical dimensions on the criteria are illustrated with the continuous functions of the response surface, i.e. metamodels. Pareto fronts are illustrated, based on which the genetic algorithm finds the optimal quantities of the vector function. The conducted analyzes provide a basis for selecting surgical robot end effector drive systems from the point of view of their generated inputs.

Słowa kluczowe

EN

surgical robot; resonance phenomena; elastic buckling; optimization; genetic algorithm; FEM

PL

robot chirurgiczny; zjawisko rezonansu; wyboczenie sprężyste; optymalizacja; algorytm genetyczny; MES

• Wydawca: Poznan University of Technology. Institute of Applied Mechanics
• Czasopismo: Vibrations in Physical Systems
• Rocznik: 2023
• Tom: Vol. 34, nr 1
• Strony: art. no. 2023106
• Opis fizyczny: Bibliogr. 27 poz., il. kolor., wykr.

Twórcy

autor

Ilewicz Grzegorz

• Warsaw University of Technology, Institute of Micromechanics and Photonics, Faculty of Mechatronics

• https://orcid.org/0000-0003-2561-3893

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).