中国科学院自动化研究所机构知识库

Remote ultrasound diagnosis using a hand-held platform with robotized parallel mechanisms could be a safe and cost-effective solution. However, the biggest difficulty is that the workspace of such mechanism is often small and it is difficult to determine the parameters of the design configuration. In this study, we propose a two-step strategy to optimize a 6-RSS Stewart-Gough platform to meet the clinical requirements. The concept of effective regular workspace and global conditioning index are applied for the analysis of the constant translation and orientation workspaces. To verify the result, computational models were developed for virtual experiments and the resulted workspace has the capability to allow the translational movements from −100 to 100 mm, −106 to 106 mm, and −30 to 30 mm along the x-, y-, and z-axis, respectively. The orientation workspace allows the adjustments of the probe from −20 to 20°, −18 to 19°, and −70 to 70° in pitch, raw, and roll direction, respectively. This meets the clinical demands obtained from the literature and it is concluded that the current method is effective for the optimization of the Stewart-Gough robotic platform when the required movement ranges are given.