Modeling tendon-sheath mechanism with flexible configurations for robot control
Surgical and search/rescue robots oftenwork in environments with very strict spatial constraints. The tendon-sheath mechanism is a promising candidate for driving such systems, allowing power sources and actuation motors placed outside to transmit force and energy to the robot at the distal end...
Saved in:
Main Authors: | , , |
---|---|
Other Authors: | |
Format: | Article |
Language: | English |
Published: |
2014
|
Subjects: | |
Online Access: | https://hdl.handle.net/10356/101413 http://hdl.handle.net/10220/18669 |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
Institution: | Nanyang Technological University |
Language: | English |
Summary: | Surgical and search/rescue robots oftenwork in environments
with very strict spatial constraints. The tendon-sheath
mechanism is a promising candidate for driving such
systems, allowing power sources and actuation motors
placed outside to transmit force and energy to the robot at
the distal end through the constrained environment. Having
both compactness and high force capability makes it very
attractive for manipulation devices. On the other hand,
the friction attenuation of tendon tension is nonlinear and
configuration-dependent due to tendon/sheath interactions
throughout the transmission path. This is amajor obstacle for
the tendon-sheath mechanism to be widely adopted. Here,we
focus on the friction analysis for flexible and time-varying
tendon-sheath configurations: the most challenging but yet
commonly encountered case for real-world applications.
Existing results on fixed-path configurations are reviewed,
revisited, and extended to flexible and time-varying cases.
The effect of tendon length to friction attenuation is modeled.
While focusing on tension transmission, tendon elongation
is also discussed with the length effect applied. In the end,
two-dimensional results are extended to three-dimensional
tendon-sheath configurations. All propositions and theorems
are validated on a dedicated experimental platform. |
---|