一种由无滑轮滚动关节组成的2自由度超冗余弯曲机器人的新型缆索驱动机构

Jungwook Suh
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引用次数: 5

摘要

许多手术机器人都是通过电线电缆远程驱动的。在过去,在机器人关节处缠绕在圆形滑轮上的电缆并不构成电缆驱动器结构的问题。然而,最近为了使接头小型化,拆除了接头内部的滑轮,因此需要专门设计适合微型接头结构的电缆驱动器以稳定驱动。本文提出了一种新的无滑轮滚动接头驱动缆绳驱动器设计,并将其扩展到二自由度结构。在此基础上,采用3D打印技术制造出了具有2自由度弯曲接头的电缆驱动器,并利用样机进行了实验验证。本文所提出的索道驱动器能够稳定地驱动无滑轮滚动接头,且索道张力低。此外,它可以完全解耦关节的偏航和俯仰运动,因此它可以应用于各种薄型机器人和仪器,包括可操纵的内窥镜和手术机器人。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Novel Cable Actuation Mechanism for 2-DOF Hyper-redundant Bending Robot Composed of Pulleyless Rolling Joints
Many surgical robots are remotely actuated by means of wire cables. In the past, the cables wound around circular pulleys at the robot joints did not constitute a problem of the cable driver structure. However, the pulleys inside the joints are removed recently in order to miniaturize the joints, so a specially designed cable driver suitable for the miniature joint structure is required for stable driving. In this paper, we propose a novel cable driver design for driving a pulleyless rolling joint and extend it to 2-DOF structure. Then, the proposed cable driver is manufactured using 3D printing with the 2-DOF bending joint, and an experiment is performed to evaluate them using the prototype. The cable driver proposed in this paper can drive pulleyless rolling joints stably with low cable tension. In addition, it can decouple yaw and pitch motion of the joints completely, therefore it can be applied to a variety of thin robots and instruments including steerable endoscopes and surgical robots.
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