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...
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sg-ntu-dr.10356-1014132023-03-04T17:19:16Z Modeling tendon-sheath mechanism with flexible configurations for robot control Wang, Zheng Sun, Zhenglong Phee, Soo Jay School of Mechanical and Aerospace Engineering DRNTU::Engineering::Mechanical engineering::Robots 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. NMRC (Natl Medical Research Council, S’pore) Published version 2014-01-22T02:29:06Z 2019-12-06T20:38:19Z 2014-01-22T02:29:06Z 2019-12-06T20:38:19Z 2013 2013 Journal Article Wang, Z., Sun, Z., & Phee, S. J. (2013). Modeling tendon-sheath mechanism with flexible configurations for robot control. Robotica, 31(7), 1131-1142. https://hdl.handle.net/10356/101413 http://hdl.handle.net/10220/18669 10.1017/S0263574713000386 en Robotica © 2013 Cambridge University Press. This paper was published in Robotica and is made available as an electronic reprint (preprint) with permission of Cambridge University Press. The paper can be found at the following official DOI: [http://dx.doi.org/10.1017/S0263574713000386]. One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper is prohibited and is subject to penalties under law. application/pdf |
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DRNTU::Engineering::Mechanical engineering::Robots Wang, Zheng Sun, Zhenglong Phee, Soo Jay Modeling tendon-sheath mechanism with flexible configurations for robot control |
description |
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. |
author2 |
School of Mechanical and Aerospace Engineering |
author_facet |
School of Mechanical and Aerospace Engineering Wang, Zheng Sun, Zhenglong Phee, Soo Jay |
format |
Article |
author |
Wang, Zheng Sun, Zhenglong Phee, Soo Jay |
author_sort |
Wang, Zheng |
title |
Modeling tendon-sheath mechanism with flexible configurations for robot control |
title_short |
Modeling tendon-sheath mechanism with flexible configurations for robot control |
title_full |
Modeling tendon-sheath mechanism with flexible configurations for robot control |
title_fullStr |
Modeling tendon-sheath mechanism with flexible configurations for robot control |
title_full_unstemmed |
Modeling tendon-sheath mechanism with flexible configurations for robot control |
title_sort |
modeling tendon-sheath mechanism with flexible configurations for robot control |
publishDate |
2014 |
url |
https://hdl.handle.net/10356/101413 http://hdl.handle.net/10220/18669 |
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1759858065100767232 |