Abrasion degradation of wire rope and synthetic fiber rope

Shuto, Y.; Tokunaga, Yuichiro; Mriya, T.; Kagoyama, T.; Hara, Shinji; Yamakawa, K.

doi:10.1109/oceans.2004.1406438

Cited by 2 publications

(1 citation statement)

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“…The breaking load of the tendon can be misleading since it could be reduced significantly due to the effect of abrasion. According to studies, the strength of the fiber and steel ropes can reduced as much as 50% when it is placed over an edge [79].…”

Section: 53: Resistance To Abrasionmentioning

confidence: 99%

Analysis and control of tendon-sheath actuation mechanism for a novel surgical robotic system

Low¹

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Current endoscopic tools are inserted along the body of a flexible endoscope to access the tissue of interest in the patient. Actuated manually by wire ropes at the proximal end, the tool is able to perform simple grasping and cutting tasks. However, these tools possess low number of Degrees of Freedom (DOF) and thus lack the dexterity and maneuverability to perform complicated tasks, like retraction and suturing of tissue, which are required in Natural Orifice Transluminal Endoscopic Surgery (NOTES) and Endoscopic Submucosal Dissection (ESD). A multi DOFs master and slave robotic system is therefore envisaged to better assist the endoscopist in performing these complicated procedures. It is a requirement that the slave manipulator passes through a long, narrow and flexible channel of the endoscope to reach the distal end. Furthermore, due to size constraints, it would be appropriate to house the actuators at the proximal end which is situated outside the patient. As such, the tendon sheath actuation has been proposed for this application. However, shape dependent friction between the tendon and sheath results in undesirable characteristics such as loss of force, backlash, hysteresis and non linearity. For effective closed loop control of the proposed system, issues such as implementation of position control and haptics feedback have to be resolved. It is desired to find the end effector force and elongation of the tendon to control the system but it is not feasible to affix sensors at the end effector due to size constraint, practicability and sterilization issues. It was proposed to utilize the knowledge of the force and position at the proximal end to perceive the distal end force and elongation of the tendon sheath. To realize this, theoretical analysis was conducted to find relations of parameters between the distal and i

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Section: 53: Resistance To Abrasionmentioning

confidence: 99%

Analysis and control of tendon-sheath actuation mechanism for a novel surgical robotic system

Low¹

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Study on Abrasion Resistance of Mooring Ropes

Lee¹,

Lee²,

Kim³

2010

Textile Coloration and Finishing

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Abstract-The laboratory inspection and analysis of several types of ropes such as edge tensile test, D/d tensile test and abrasion test were carried out in order to investigate the abrasion degradation by external damage and to obtain the fundamental data for measurement against the abrasion. PET ropes were socketed and evaluated under tensile testing. A yarn-on-yarn abrasion test machine has been developed to study the damage and failure associated with rubbing between fiber surfaces. The abrasion test method consists of sliding a length of interwrapped yarn against itself in a reciprocating fashion, either dry or immersed in liquid. It has also been adapted to measure yarn-on-yarn friction. The influence of spin finish on yarn friction and abrasion was investigated extensively. This study indicates that finish has a major effect not only on yarn performance but also on rope performance under the marine environment. Keywords: PET, abrasion test, tension, denier, interwrap, offshore mooring 해양용 로프의 내마모성에 관한 연구이은주․이창환․김주용

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Abrasion degradation of wire rope and synthetic fiber rope

Cited by 2 publications

References 0 publications

Analysis and control of tendon-sheath actuation mechanism for a novel surgical robotic system

Analysis and control of tendon-sheath actuation mechanism for a novel surgical robotic system

Study on Abrasion Resistance of Mooring Ropes

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