Structural Design and Optimisation of a Semi-Direct-Drive Master Manipulator.

BACKGROUND

In recent years, laparoscopic surgical robots have rapidly developed. However, research on master manipulators remains relatively limited. Existing designs are often characterised by structural complexity and inadequate force feedback capabilities.

METHODS

A semi-direct-drive serial 8-degree of freedom force-feedback master manipulator was developed. A global fluctuation performance index based on mean absolute deviation and a minimum gravity torque index were proposed, and structural optimisation was performed using a multi-objective genetic algorithm. A spring-cable gravity compensation mechanism was also designed.

RESULTS

The optimised manipulator satisfied laparoscopic surgical requirements, improved the comprehensive performance index by 93.63%, reduced motor output torque by about 70%, and decreased the maximum end-effector force and torque from 15.420 N to 0.123 Nm to 1.402 N and 0.034 Nm, respectively.

CONCLUSION

The proposed master manipulator demonstrates potential application value in the field of laparoscopic surgical robots.