Abstract
Serial spherical linkages have been used in the design of a number of robots for minimally invasive surgery, in order to mechanically constrain the surgical instrument with respect to the incision. However, the typical serial spherical mechanism suffers from conflicting design objectives, resulting in an unsuitable compromise between avoiding collision with the patient and producing good kinematic and workspace characteristics. In this paper we propose a redundant serial spherical linkage to achieve this purpose and present a multi-objective optimization for achieving the aforementioned design goals. The sensitivity of the solution to uncertainties in the design parameters is investigated.
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