지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 1,756 - 1,761 (6page)
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초록· 키워드
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This paper discusses multi-criteria optimization of the 4 links of an 8 DOF haptic master device for a minimally invasive surgery. In minimally invasive surgery, because of limited information from surgical scene, sensation of feedback force and manipulability of device are important factors during surgery. Therefore, optimization of the device is required for efficiency of surgical procedures. To achieve this purpose, physical meanings of various performance indices are introduced. And some performance indices such as workspace, kinematic manipulability and force isotropy index are considered. Also, to measure global condition of these indices, global indices are defined and calculated by using monte-carlo method. And then genetic algorithm is used to get optimal link lengths in this multi-criteria optimization problem.
목차
Abstract
1. INTRODUCTION
2. 8 DOF Haptic Master Device
3. Kinematic Analysis
4. Performance Indices
5. Optimal Design
6. Optimization Result
7. Conclusion
REFERENCES
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