Optimal synthesis of a spherical parallel mechanism for medical application

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题名:	Optimal synthesis of a spherical parallel mechanism for medical application
作者:	伊泰龍;Essomba, T.;Laribi, M. A.;Zeghloul, S.;Poisson, G.
贡献者:	工學院機械工程學系
关键词:	Architecture;Automatic;Engineering Sciences;Genetic algorithms;Kinematics;Medical;Optimization;Robots;Synthesis;Ultrasound
日期:	2016-03-01
上传时间:	2026-04-23 15:21:30 (UTC+8)
出版者:	Cambridge University Press;Cambridge, UK: Cambridge University Press
摘要:	摘要： This paper introduces the design and the optimization of a probe holder robot for tele-echography applications. To define its kinematic architecture, an approach based on motion capture of an expert's gestures during ultrasound examinations was proposed. The medical gestures analyzed consisted of ultrasound probe movements and were used to characterize the kinematic specifications of the proposed manipulator. The selected architecture was a Spherical Parallel Mechanism (SPM) with 3 degrees of freedom (DoF) and its optimal synthesis was performed using real-coded Genetic Algorithms (GA). The optimization criteria and constraints were established thanks to the collaboration of medical experts and were successively formulated and solved using mono-objective and multi-objective functions. 其他題名： Robotica 出版者： Cambridge, UK: Cambridge University Press 出版日期： 2016-03-01 出處： Robotica, 2016-03, Vol.34 (3), p.671-686 版權： Copyright © Cambridge University Press 2014 版權： licence_http://creativecommons.org/publicdomain/zero 識別號： ISSN: 0263-5747 識別號： EISSN: 1469-8668 識別號： DOI: 10.1017/S0263574714001805
显示于类别:	[機械工程學系] 期刊論文

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