Surgical robots are safety-critical devices that require multiple domains of safety features. This article focuses on the passive gravity compensation design optimization of a surgical robot. The limits of this optimization are related with the safety features including minimization of the total moving mass/inertia and compactness of the design. The particle swarm optimization method is used as a novel approach for the optimization of a parallel remote-center-of-motion mechanism. A compact design is achieved by partially balancing the mechanism, which also decreases the torque requirements from the actuators.

中文翻译：

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手术机器人的部分重力补偿

手术机器人是安全关键设备，需要多个安全功能领域。本文重点介绍手术机器人的被动重力补偿设计优化。这种优化的限制与安全特性有关，包括最小化总移动质量/惯性和设计的紧凑性。粒子群优化方法被用作优化并行远程运动中心机构的一种新方法。通过部分平衡机构实现了紧凑的设计，这也降低了执行器的扭矩要求。