Singularity Analysis and Geometric Optimization of a 6-DOF Parallel Robot for SILS Article Swipe

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Workspace Singularity Gravitational singularity Parallel manipulator Robot Computer science Constraint (computer-aided design) Set (abstract data type) Degrees of freedom (physics and chemistry) Mathematics Control theory (sociology) Topology (electrical circuits) Artificial intelligence Geometry Mathematical analysis Physics Combinatorics Programming language Quantum mechanics Control (management)

Doina Pîslă , Iosif Bîrlescu , Nicolae Crişan , Alexandru Pusca , Iulia Andraș , Paul Tucan , Corina Radu , Bogdan Gherman , Călin Vaida ·

YOU? · · 2022 · Open Access · · DOI: https://doi.org/10.3390/machines10090764 · OA: W4294845352

The paper presents the singularity analysis and the geometric optimization of a 6-DOF (Degrees of Freedom) parallel robot for SILS (Single-Incision Laparoscopic Surgery). Based on a defined set of input/output constraint equations, the singularities of the parallel robotic system are determined and geometrically interpreted. Then, the geometric parameters (e.g., the lengths of the mechanism links) for the 6-DOF parallel robot for SILS are optimized such that the robotic system complies with an operational workspace defined in correlation with the SILS task. A numerical analysis of the singularities showed that the operational workspace is singularity free. Furthermore, numerical simulations validate the parallel robot for the next developing stages (e.g., designing and prototyping stages).