Multi-objective optimization of a medical robot model in transient states

• Autorzy: Ilewicz G. , Harlecki A.

Identyfikatory

DOI

10.20858/sjsutst.2018.99.7

• Języki publikacji: EN

Abstrakty

EN

The article describes the method for the multi-objective optimization of a proposed medical robot model, which has been considered in the form of a serial kinematic chain. In the assumed approach, the finite element method was used in order to model the flexibility of manipulator links. To speed up the optimization process, the response surface method was applied, defining the so-called metamodel. In order to uncover the optimal solution, a multi-objective genetic algorithm was used, guaranteeing the optimality of the manipulator model in the Pareto sense. The optimization process was carried out by analysing the selected case of the manipulator’s dynamics. The proposed optimization method allows us to minimize the mass of the manipulator while additionally ensuring the highest possible stiffness of its structure and sufficient strength of its parts. Furthermore, it offers the possibility to eliminate the natural frequency of vibrations of the model close to the resonant frequency.

Słowa kluczowe

EN

medical robot; dynamics; transient state; optimization; genetic algorithm; finite element method

PL

robot medyczny; dynamika; stan przejściowy; optymalizacja; algorytm genetyczny; metoda elementów skończonych

• Wydawca: Wydawnictwo Politechniki Śląskiej
• Czasopismo: Zeszyty Naukowe. Transport / Politechnika Śląska
• Rocznik: 2018
• Tom: z. 99
• Strony: 79--88
• Opis fizyczny: Bibliogr. 7 poz.

Twórcy

autor

Ilewicz G.

• Faculty of Mechanical Engineering and Computer Sciences, University of Bielsko-Biała, Bielsko-Biała, Willowa 2, Poland

autor

Harlecki A.

• Faculty of Mechanical Engineering and Computer Sciences, University of Bielsko-Biała, Bielsko-Biała, Willowa 2, Poland

Bibliografia

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• 3. Li Jianmin, Shuxin Wang, Xiaofei Wang, Chao He. 2010. “Optimization of a novel mechanism for a minimally invasive surgery robot”. International Journal of Medical Robotics and Computer Assisted Surgery 6 (1): 83-90. ISSN: 1478-5951. DOI: 10.1002/rcs.293.
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• 5. Wang Wei, Weidong Wang, Wei Dong, Hongjian Yu, Zhiyuan Yan, Zhijiang Du. 2015. “Dimensional optimization of a minimally invasive surgical robot system based on NSGA-II algorithm”. Advances in Mechanical Engineering 7 (2): 83-90. ISSN: 1687- 8140. DOI: 10.1177/1687814014568541.
• 6. Zienkiewicz Olek, Robert Taylor, J.Z. Zhu. 2013. The Finite Element Method: Its Basis and Fundamentals. Oxford: Elsevier Ltd. ISBN: 9781856176330.
• 7. Leniowska Lucyna, Leniowski Ryszard. 2016. “Technological limitations of surgical robotics on the example of a robot Roch-1”. Acta Bio-Optica et Informatica Medica 2(3). ISSN: 1234-5563.