Structural Design and Optimisation of a Semi‐Direct‐Drive Master Manipulator

BACKGROUND: In recent years, laparoscopic surgical robots have rapidly developed. However, research on master manipulators remains relatively limited. Existing designs are often characterised by structural complexity and inadequate force feedback capabilities. METHODS: A semi-direct-drive serial 8-degree of freedom force-feedback master manipulator was developed. A global fluctuation performance index based on mean absolute deviation and a minimum gravity torque index were proposed, and structural optimisation was performed using a multi-objective genetic algorithm. A spring-cable gravity compensation mechanism was also designed. RESULTS: The optimised manipulator satisfied laparoscopic surgical requirements, improved the comprehensive performance index by 93.63%, reduced motor output torque by about 70%, and decreased the maximum end-effector force and torque from 15.420 N to 0.123 Nm to 1.402 N and 0.034 Nm, respectively. CONCLUSION: The proposed master manipulator demonstrates potential application value in the field of laparoscopic surgical robots.