Modelling and optimization of robotic manipulator mechanism for computed tomography guided medical procedure

Although industrial robots are common, higher degree of manipulability might be required to expand the applications of manipulators in the field of medicine. Modifying the mechanical design of a robot as per the workspace can be perceived as an optimization problem. Hence, a novel spatial manipulato...

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Bibliographic Details
Published inScientia Iranica. Transaction B, Mechanical engineering Vol. 29; no. 2; pp. 543 - 555
Main Authors Shah, Sh Kamlesh, Mishra, R
Format Journal Article
LanguageEnglish
Published Tehran Sharif University of Technology 01.04.2022
Subjects
Comparative studies
Computed tomography
Degrees of freedom
Design
Design modifications
Genetic algorithms
Industrial robots
Kinematic equations
Kinematics
Manipulators
Manufacturing
Optimization
Optimization techniques
Pattern search
Robot arms
Robotics
Robots
Tomography
Workspace
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Summary:Although industrial robots are common, higher degree of manipulability might be required to expand the applications of manipulators in the field of medicine. Modifying the mechanical design of a robot as per the workspace can be perceived as an optimization problem. Hence, a novel spatial manipulator is designed for a diagnostic apparatus using different optimization algorithms. Standard Genetic Algorithm (SGA) and Genetic Algorithm (GA) with hybrid functions like Pattern Search (PS) and fmincon are proposed to optimize the link lengths of 3-Degree-Of-Freedom (DOF), 6-DOF, and novel 9-DOF hybrid redundant manipulators. A 9-DOF robot is designed to manipulate a needle in Computed Tomography (CT) machine environment. The fitness function for all the manipulators is formulated using forward kinematic equations according to their workspace. Limits and constraints of each link have been decided in advance. A comparative study between all the hybrid GA functions is performed. MATLAB is used to solve and train the proposed GA method for optimizing the link lengths. Results show that the GA with PS provide better-optimized link lengths for 3-DOF and 9-DOF manipulators while fmincon is well suited for a 6-DOF robot manipulator. Workspace and dead zone analysis is also performed using the optimized link lengths obtained.
DOI:10.24200/SCI.2021.57259.5149