Singularity Analysis and Geometric Optimization of a 6-DOF Parallel Robot for SILS

Abstract

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).

Keywords

• parallel robot
• singularity analysis
• geometric optimization
• single-incision laparoscopic surgery