Optimization of kinetostatic performances and compactness of an in vivo serial robot for minimally invasive surgery

In this paper, we optimize the link dimensions of a robot with two serial arms for minimally-invasive surgery, to improve its kinetostatic performance (force, velocity) and its compactness, under the constraint of reachable space. A Pareto curve is plotted to provide the designer all the optimum possible solutions between transmissible velocity, forces, and compactness.

Data and Resources

Additional Info

Field Value
Source 21ème Congres Français de Mécanique
Author Drouin, Christophe, Miossec, Sylvain, Nelson, Carl A., Poisson, Gérard
Maintainer CCSD
Last Updated May 10, 2026, 14:27 (UTC)
Created May 10, 2026, 14:27 (UTC)
Identifier hal-00836776
Language en
Rights https://about.hal.science/hal-authorisation-v1/
contributor Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique [2008-2013] (PRISME) ; Université d'Orléans (UO)-Ecole Nationale Supérieure d'Ingénieurs de Bourges (ENSI Bourges)
coverage Bordeaux, France
creator Drouin, Christophe
date 2013-08-26T00:00:00
harvest_object_id 5a69f76a-e80e-4602-a8a4-922b3d9fd983
harvest_source_id 3374d638-d20b-4672-ba96-a23232d55657
harvest_source_title test moissonnage SELUNE
metadata_modified 2024-11-21T00:00:00
set_spec type:COMM