滑轮
运动学
执行机构
顺应机制
机制(生物学)
控制理论(社会学)
非线性系统
机械工程
工程类
模拟
计算机科学
结构工程
物理
经典力学
有限元法
人工智能
控制(管理)
量子力学
作者
Zhengyu Wang,Shiyang Bao,Daoming Wang,Sen Qian,Jianxi Zhang,Mingxin Hai
出处
期刊:Journal of Mechanisms and Robotics
[ASME International]
日期:2022-12-19
卷期号:15 (6)
被引量:14
摘要
Abstract This article presents the design, development, and motion control of a novel flexible robotic laparoscope (FRL). The main structure of the FRL includes a two degrees-of-freedom (DOFs) continuum mechanism driven by two pairs of cable-pulley-driven systems, which are actuated by four miniature linear actuators. A constant-curvature model is employed on the kinematics modeling and analysis of the continuum mechanism with designed major arc notches. The bending control strategy of the continuum mechanism is proposed and realized based on its kinematics model and a feedforward compensation method considering its nonlinearity motion calibration with a suitable initial tension of the driven cables. Besides, the continuum mechanism is made of elastic nylon material through 3D printing technology. An experimental prototype is developed to test the effectiveness and feasibility of the FRL. The experimental results indicate that the FRL has good positioning accuracy and motion performance with potential applications in robot-assisted laparoscopic surgery.
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