Natural Frequencies and Multi-objective Optimization of the Model of Medical Robot with Serial Kinematical Chain

Ilewicz, Grzegorz

doi:10.1007/978-3-319-46490-9_50

Cited by 3 publications

(1 citation statement)

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“…Model of a vector optimization using MOGA genetic algorithm, where three criteria were important: the first natural frequency in order to increase stiffness of the tool, mass that may minimize inertial forces and equivalent stress in transient states was described in work [1,2]. Important information about elastic buckling problems is announced in work [3][4][5].…”

Section: Introductionmentioning

confidence: 99%

Multi-objective optimization and linear buckling of serial chain of a medical robot tool for soft tissue surgery

Ilewicz

Harlecki

2020

IJRA

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<p>The slender structures of a medical robot may have a tendency to buckling when a force equal to the critical Euler force and an additional disturbance will work on their structures. In this work, eigenvalue problem that describes the linear buckling, is under consideration. The main goal of the article is to check when linear buckling phenomenon appears in construction of a medical robot with serial chain due to the fact that for safety reasons of a robot’s work, it is necessary to answer the question, whether the buckling may occur in the robot’s structure. For this purpose, a numerical calculation model was defined by using the finite element method. The values of load factor coefficients that are eigenvalue are determinated and also the eigenvectors that have shapes of deformation for the next eigenvalues are presented. The multi-criteria optimization model was determined to aim for the minimum mass of the effector and the buckling coefficient, from which the Euler force results, for the maximum. The solution was obtained on the basis of Pareto fronts and the MOGA genetic algorithm.</p>

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Section: Introductionmentioning

confidence: 99%