Robust Design Synthesis of Spherical Parallel Manipulator for Dexterous Medical Task

摘要

This paper deals with the design synthsesis of a spherical parallel manipulator (SPM) for a dexterous surgery task. A considerable effect of manufacturing errors on the workspace and particularly on the dexterity of the mechanism is noted. Thus, the use of nominal values of the design vector generated by deterministic optimization may be erroneous. The effect of these errors on the mechanism workspace and dexterity is then studied and a Robust approach combining genetic algorithms (GA) and Monte Carlo Simulation (MCS) is presented to lead to an SPM with a low-sensitive dexterity to manufacturing errors. The results are finally discussed through an example.