Partial gravity compensation of a surgical robot

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