Modelling and Optimization of Robotic Manipulator Mechanism for Computed Tomography Guided Medical Procedure

Although industrial robots are common, a higher degree of manipulability might be required to expand the applications manipulators in field medicine. Modifying mechanical design robot as per workspace can perceived an optimization problem. Hence, novel spatial manipulator is designed for diagnostic apparatus using different algorithms. Standard Genetic Algorithm (SGA) and GA (Genetic Algorithm) with hybrid functions like pattern search (PS) fmincon proposed optimize link lengths 3degrees freedom (DOF), 6-DOF, 9-DOF redundant manipulator. A manipulate needle CT machine environment. The fitness function all formulated forward kinematic equations according their workspace. Limits constraints each decided beforehand. comparative study between performed. MATLAB used solve train method optimizing lengths. Results show that PS provide better-optimized 3-DOF while well suited 6-DOF Workspace dead zone analysis also performed optimized obtained.