The paper presents the singularity analysis and the geometric optimization of a 6-DOF (Degrees of Freedom) parallel robot for SILS (Single-Incision Laparoscopic Surgery). Based on a defined set of input/output constraint equations, the singularities of the parallel robotic system are determined and geometrically interpreted. Then, the geometric parameters (e.g., the lengths of the mechanism links) for the 6-DOF parallel robot for SILS are optimized such that the robotic system complies with an operational workspace defined in correlation with the SILS task. A numerical analysis of the singularities showed that the operational workspace is singularity free. Furthermore, numerical simulations validate the parallel robot for the next developing stages (e.g., designing and prototyping stages).
