| Popis: |
Minimally invasive robots are currently used during the operations of human body in the entire world. There are various important mechanical quantities in the designing process of a medical robot structure, such as the dynamic safety factor, which is reckoned in this following article. Matlab program was used to calculate the torque in every joint with a DC motor, controlled with PID regulator for a given trajectory. Trajectory allows the effector to move in the tunnel of a tissue inside the patient’s chest (tunnel was obtained by using 3D Slicer computer program and CT scan diagnostics). Subsequently, the FEM (finite element method) was applied to enumerate transient conditions during the deformation of robots’ structure (RRRS). Numerical experiment of multi-objective optimization is introduced in the work, where two criteria, during the calculation, are very significant: first natural frequency and dynamic safety factor for multibody effector of a medical robot in motion, taking into account the inertia, damping, and stiffness reactions. The Pareto optimum for these criteria is calculated by using a genetic algorithm. The mini robot effector is finished with a scalpel. |
