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A CABLE-PULLEY TRANSMISSION MECHANISM FOR SURGICAL ROBOT WITH BACKDRIVABLE CAPABILITY
Форма представленияСтатьи в зарубежных журналах и сборниках
Год публикации2018
Языканглийский
  • Магид Евгений Аркадьевич, автор
  • Библиографическое описание на языке оригинала Li H, Liu W, Wang K, Magid E. A cable-pulley transmission mechanism for surgical robot with backdrivable capability//Robotics and Computer-Integrated Manufacturing. - 2018. - Vol.49, Is.. - P.328-334.
    Аннотация Compact actuators, low friction and back-drivable transmissions are essential components in haptic and impedance type surgical robotic systems, since their performances affect overall volume, force feedback capability and power consumption. An innovative miniaturized, low friction, back-drivable reducing mechanism for haptic or surgical robot applications has been designed, developed and evaluated. A new differential mechanism having a cable comprises a sheave wheel supported by a yolk is also implemented. Low friction and back-drivable, compared to conventional non-back-drivable mechanisms based on gear coupling, is achieved by means of differential cable driven method. The system has been integrated with a permanent-magnet DC motor and a drum on which a tendon is wound, and then finally connected to the remote end joint. Several experiments to validate the feasibility of the reducing device were carried out.
    Ключевые слова Cable pulley transmission; Reducing device; Backdrivability; Force feedback
    Название журнала Robotics and Computer-Integrated Manufacturing
    URL https://www.scopus.com/inward/record.uri?eid=2-s2.0-85027582699&doi=10.1016%2fj.rcim.2017.08.011&partnerID=40&md5=cf921f0cc484edebe142e7288898fcd6
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