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提出一种新型的三角形远心定位机构用于腹腔微创手术,该机构简单,刚度高.为得到综合性能较优的三角形远心定位机构,提出了一种新型的多目标优化模型,该模型中包含4个优化目标函数:全局运动学性能指标、机构紧凑性指标、全局刚度综合性能指标和全局动力学性能指标;3个约束条件:工作空间约束、机构参数约束和质量约束;2个设计变量:2个关节之间夹角.应用非支配遗传算法求解多目标优化问题.根据优化结果建立了三角形远心定位机构实物模型.实验验证了该三角形远心定位机构的有效性.
A new type of triangular telecentric positioning mechanism for peritoneal minimally invasive surgery is proposed, which has the advantages of simple structure and high rigidity. In order to obtain a triangular telecentric positioning mechanism with better overall performance, a new multi-objective optimization model is proposed. There are four optimization objective functions: global kinematic performance index, institutional compactness index, global stiffness comprehensive performance index and global dynamics performance index; three constraints: working space constraint, institutional parameter constraint and quality constraint; two designs Variable: the angle between two joints .Using the non-dominated genetic algorithm to solve the multi-objective optimization problem, the physical model of the triangular telecentric positioning mechanism was established based on the optimization results. The validity of the triangular telecentric positioning mechanism was verified by experiments.