Tendon-sheath actuated robots and transmission system

Author

Lin, Chen ; Xingsong, Wang ; Fuxiang, Tian

Author_Institution

Sch. of Mech. Eng., Southeast Univ., Nanjing, China

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

3173

Lastpage

3178

Abstract

In this paper, tendon-sheath actuated robots working under narrow space are introduced. These kinds of robots are often used to accomplish some rescue tasks, operate minimally invasive surgeries or fulfill some detection mission. The application of tendon-sheath mechanism can reduce the size and weight of the robots. Friction between the tendon and the sheath which introduces some nonlinear phenomenon lowers the performance of the system. Model based on static force balance considering Coulomb friction is presented to study the transmission characteristics. Dynamical friction models such as Dahl model and Lugre model are also applied in our simulation model. Both of Simulation and experimental results prove its validation.

Keywords

friction; nonlinear control systems; robots; Coulomb friction; Dahl model; Lugre model; dynamical friction model; nonlinear phenomenon; static force balance; tendon-sheath actuated robots; transmission system; End effectors; Friction; Manipulators; Minimally invasive surgery; Orbital robotics; Predictive models; Pulleys; Robotics and automation; Robots; Tendons; Friction; Tendon-Sheath actuated robots; transmission system;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5246171

Filename

5246171