Underactuated miniature bending joint composed of serial pulleyless rolling joints

Suh, Jungwook; Lee, Jung Ju; Kwon, Dong‐Soo

doi:10.1080/01691864.2013.854444

Cited by 19 publications

(4 citation statements)

References 19 publications

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“…On the other hand, the proposed parallelogram is relatively more complicated by the additional gears. Its kinematics can be expressed as four sets of DH parameters, as shown in Table 2 [16,17]. Here, 𝐿 J is a constant representing the length of the long rotation links, and 𝜃 is a variable representing the rotation angle of the rotation links.…”

Section: A Joint Space and Task Spacementioning

confidence: 99%

Design and Verification of Parallelogram Mechanism With Geared Unit Rolling Joints for Reliable Wiring

Suh

Choi

2023

IEEE Robot. Autom. Lett.

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The structure of 1-DOF joints used in existing robots is generally a revolute or a prismatic joint. However, recently, attempts have been made to apply rolling joints to reduce the size and weight of surgical and humanoid robots. In this study, to take advantages of wire routing through robot joints, a new method for applying geared rolling units to a parallelogram mechanism is proposed. First, a kinematic analysis of the proposed gear-based mechanism is explained in comparison with the existing pivot-based mechanism. In addition, the importance of the radii of the gears is verified through force analysis to prevent damage to the applied gears, as well as through the analysis of actuation torque and singular positions, in which the parallelogram can convert into an antiparallelogram. The effect of stable wiring was verified through an experiment using a cable-driven prototype. Consequently, the proposed parallelogram mechanism composed of rolling units is expected to be applied to various robot configurations owing to its advantages.Index Terms-Mechanism design, actuation and joint mechanisms, tendon/wire mechanism, kinematics NRF-2020R1C1C1008707, No. 2022.

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Section: A Joint Space and Task Spacementioning

confidence: 99%

Design and Verification of Parallelogram Mechanism With Geared Unit Rolling Joints for Reliable Wiring

Suh

Choi

2023

IEEE Robot. Autom. Lett.

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“…In addition, other studies have investigated the relationships between the mechanism's stiffness and the joint geometry or the tendon path [18][19][20]. Tapered [32], convergent, or sigma-shaped tendon [33,34] paths have proven to considerably improve the stiffness against lateral forces compared to regular parallel tendon paths. Furthermore, multiple alternative approaches have been explored to constrain and lock the shape of the manipulator to increase stiffness and load capacity, including the use of auxiliary links [35], dragon skin structures [36], and latches with electromagnets [37].…”

Section: Prosmentioning

confidence: 99%

Investigating the Stiffness Characteristics of a Tendon-Driven Continuum Manipulator Using Sensitivity Analysis: A Case Study in Transoral Laser Microsurgery

Sawant,

Gkikakis,

Mattos

2023

Machines

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Continuum manipulators, with their characteristics of flexibility and dexterity, have gained significant interest in various applications across industries such as inspection, manufacturing, space exploration, and medical surgery. However, because of their inherent compliance, handling payloads may prove challenging due to shape distortion and deflection. This demonstrates the need to optimize the manipulator’s stiffness. The primary objective of this work was to show the merits of sensitivity analysis in the design of flexible surgical manipulators. Such analysis can guide important design decisions and enable the more efficient use of available resources, contributing to designing more effective prototypes. A new sensitivity analysis framework based on a multi-model and a multi-method approach was proposed to achieve this. This framework was then demonstrated by studying a tendon-driven rolling contact joint hyper-redundant manipulator for transoral laser microsurgery. In this analysis, the effects of independent design parameters on the stiffness of the manipulator were examined. Then, scaled-up 3D-printed prototypes were used to validate the accuracy of the stiffness model experimentally, which enabled us to assess the outcome of the sensitivity analysis framework. The results demonstrated that only two out of five design parameters for the considered manipulator significantly impacted the device’s performance. This information could enable the designer to efficiently allocate resources toward correctly setting these two most important parameters to achieve the desired system. Overall, the proposed analysis framework is a general tool that can be applied to any design architecture, helping to develop optimal manipulators for various applications.

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“…Moreover, several researchers attempted to improve manipulator stiffness with nonparallel wire paths. The distance between the wire hole and central axis was shorted to stiffen the distal end of a discrete backbone manipulator against lateral forces [11]. A convergent wire path for a continuum backbone manipulator was proposed to improve the stiffness against the lateral force applied at arbitrary points on the manipulator [12].…”

Section: K E Y T E C H N I C a L I S S U E S I N F L E X I B L E S U ...mentioning

confidence: 99%

Advancement of Flexible Robot Technologies for Endoluminal Surgeries

et al. 2022

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Underactuated miniature bending joint composed of serial pulleyless rolling joints

Cited by 19 publications

References 19 publications

Design and Verification of Parallelogram Mechanism With Geared Unit Rolling Joints for Reliable Wiring

Design and Verification of Parallelogram Mechanism With Geared Unit Rolling Joints for Reliable Wiring

Investigating the Stiffness Characteristics of a Tendon-Driven Continuum Manipulator Using Sensitivity Analysis: A Case Study in Transoral Laser Microsurgery

Advancement of Flexible Robot Technologies for Endoluminal Surgeries

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