微创手术机器人主手多目标优化与冗余关节规划  

Multi-Objective Optimization and Redundant Joint Planning of Minimally Invasive Surgical Robot Master Hand

作　　者：牛国君 庞福坤 

机构地区：[1]浙江理工大学机械工程学院,浙江 杭州

出　　处：《建模与仿真》2024年第1期717-729,共13页Modeling and Simulation

摘　　要：主手作为医生与微创手术机器人系统交互的载体,其性能将直接影响手术质量。为提高主手的综合性能,提出应用多目标遗传算法求解多目标优化模型,该模型含有3个优化变量(主手的3个连杆长度)、3个优化目标函数(运动学性能指标,刚度性能指标,动力学性能指标)和1个约束条件(杆长约束);为使腕部在操作过程中拥有实现协作任务的功能,在三自由度腕部的基础上增加一个冗余关节,采用加权最小范数法求得冗余关节的角度,使用解析法求得其余关节的角度,实现主手的冗余关节规划。As the carrier of the interaction between the doctor and the minimally invasive surgical robot sys-tem, the performance of the master hand will directly affect the surgical quality. In order to im-prove the comprehensive performance of the master hand, a multi-objective genetic algorithm is proposed to solve the multi-objective optimization model, the model consists of three optimization variables (the length of three connecting rods of the master hand), three optimization objective functions (kinematic performance index, stiffness performance index, dynamic performance index) and one constraint condition (the length of the connecting rod constraint);in order to make the wrist have the function of realizing cooperative tasks during operation, a redundant joint is added to the three-degree-of-freedom wrist, the optimal angle of redundant joint is obtained by weighted minimum norm method, and then the angle of other joints is obtained by analytic method.

关 键 词：多目标优化 遗传算法 冗余关节规划 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]