Novel block mechanism for rolling joints in minimally invasive surgery

Title
Novel block mechanism for rolling joints in minimally invasive surgery
Authors
김계리김정률권성일
Keywords
Snake-like mechanism
Issue Date
2020-05
Publisher
Mechanism and machine theory
Citation
VOL 147, 103774
Abstract
This study developed a rolling joint including blocks to improve the stiffness of a manipulator. We defined the design parameters of the block mechanism and derived the joint moments when an external force is applied to the distal link of the manipulator. As the joint moments were not zero at the initial position, the equilibrium position for minimizing the joint moments was calculated via sequential quadratic programming in Matlab. We found that the design parameters affected the manipulator displacement and optimized them to minimize the displacement using the complete enumeration survey method. The stiffness calculated using the displacement of the optimized block mechanism was 47.3% to 268.2% higher than the conventional rolling joint on changing the operating cable tension and external force during simulations. Furthermore, we fabricated the prototype and validated the stiffness improvement of the manipulator experimentally. Although the required tension to move the block increased slightly because of friction, the stiffness of the block mechanism was 140.4% to 353.9% higher than the conventional rolling joint under the same external force and cable tensions.
URI
http://pubs.kist.re.kr/handle/201004/70935
ISSN
0094-114X
Appears in Collections:
KIST Publication > Article
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE