This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including a snakelike linkage, motor housing, and an arm connector. The ADM can articulate into complex shapes for improved access to surgical targets. A connector provides an efficient and convenient modularity for insertion and removal of the robot. Four DC motors guide eight cables to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.

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This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including a snakelike linkage, motor housing, and an arm connector. The ADM can articulate into complex shapes for improved access to surgical targets. A connector provides an efficient and convenient modularity for insertion and removal of the robot. Four DC motors guide eight cables to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.

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To enhance the stability of a harmonic vibration synchronous conveyer, this paper establishes a nonlinear dynamical model for this kind of vibration machine, and the effects and compensation function on the stability produced by the nonlinearity of a master vibration spring have been analyzed. A small parameter perturbation method has been used to analyze the effects of a nonlinear force on the conveyer when a fluctuating impact was loaded onto the machine. The reaction between motion stability of the vibration conveyer and the synchronization of the two motors was also investigated. The results of experiments and practical applications demonstrated the correctness of the motion stability analysis of this nonlinear vibration conveyer and its application validity. In conclusion, significant reference values for design, dynamic analysis, testing, and application of the nonlinear vibration conveyer, with harmonic synchronous vibration, actuated by two motors have been achieved.

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