Multi-objective optimization and linear buckling of serial chain of a medical robot tool for soft tissue surgery
| Autor: | Grzegorz Ilewicz, Andrzej Harlecki |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
Medical robot
Optimization 0209 industrial biotechnology Finite element method Computer science Work (physics) Linear buckling 02 engineering and technology Multi-objective optimization Load factor Pareto front MOGA genetic algorithm 020901 industrial engineering & automation Buckling Control theory Eigenvalue problem Robot Eigenvalues and eigenvectors |
| Popis: | The slender structures of a medical robot may have a tendency to bucklingwhen a force equal to the critical Euler force and an additional disturbancewill work on their structures. In this work, eigenvalue problem that describesthe linear buckling is under consideration. The main goal of the article is tocheck when linear buckling phenomenon appears in construction ofa medical robot with serial chain due to the fact that for safety reasons ofa robot’s work, it is necessary to answer the question, whether the bucklingmay occur in the robot’s structure. For this purpose, a numerical calculationmodel was defined by using the finite element method. The values of loadfactor coefficients that are eigenvalue are determinated and alsothe eigenvectors that have shapes of deformation for the next eigenvalues arepresented. The multi-criteria optimization model was determined to aim forthe minimum mass of the effector and the buckling coefficient, from whichthe Euler force results, for the maximum. The solution was obtained onthe basis of Pareto fronts and the MOGA genetic algorithm. |
| Databáze: | OpenAIRE |
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