KFU. Card publication. A cable-pulley transmission mechanism for surgical robot with backdrivable capability

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

A CABLE-PULLEY TRANSMISSION MECHANISM FOR SURGICAL ROBOT WITH BACKDRIVABLE CAPABILITY

Form of presentation

Articles in international journals and collections

Year of publication

2018

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Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Li H. A cable-pulley transmission mechanism for surgical robot with backdrivable capability / Liu W., Wang K., Kawashima K., Magid E. // Robotics and Computer-Integrated Manufacturing. - 2018. - �49. - p. 328-334.

Annotation

Compact actuators, low friction and back-drivable transmissions are essential components in haptic and impedance type surgical robotic systems, since their performances affect overall volume, force feedback capability and power consumption. An innovative miniaturized, low friction, back-drivable reducing mechanism for haptic or surgical robot applications has been designed, developed and evaluated. A new differential mechanism having a cable comprises a sheave wheel supported by a yolk is also implemented. Low friction and back-drivable, compared to conventional non-back-drivable mechanisms based on gear coupling, is achieved by means of differential cable driven method. The system has been integrated with a permanent-magnet DC motor and a drum on which a tendon is wound, and then finally connected to the remote end joint. Several experiments to validate the feasibility of the reducing device were carried out.

Keywords

Cable pulley transmission; Reducing device; Backdrivability; Force feedback

The name of the journal

Robotics and Computer-Integrated Manufacturing

URL

https://www.sciencedirect.com/science/article/pii/S0736584516302356

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=162558&p_lang=2

Resource files

File name	Size (MB)	Format
2018_A_cable_pulley_transmission_mechanism_for_surgical_robot_with_backdrivable_capability.pdf	1,75	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2018-01-01T00:00:00Z	ru_RU
dc.date.available	2018-01-01T00:00:00Z	ru_RU
dc.date.issued	2018	ru_RU
dc.identifier.citation	Li H. A cable-pulley transmission mechanism for surgical robot with backdrivable capability / Liu W., Wang K., Kawashima K., Magid E. // Robotics and Computer-Integrated Manufacturing. - 2018. - �49. - p. 328-334.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=162558&p_lang=2	ru_RU
dc.description.abstract	Robotics and Computer-Integrated Manufacturing	ru_RU
dc.description.abstract	Compact actuators, low friction and back-drivable transmissions are essential components in haptic and impedance type surgical robotic systems, since their performances affect overall volume, force feedback capability and power consumption. An innovative miniaturized, low friction, back-drivable reducing mechanism for haptic or surgical robot applications has been designed, developed and evaluated. A new differential mechanism having a cable comprises a sheave wheel supported by a yolk is also implemented. Low friction and back-drivable, compared to conventional non-back-drivable mechanisms based on gear coupling, is achieved by means of differential cable driven method. The system has been integrated with a permanent-magnet DC motor and a drum on which a tendon is wound, and then finally connected to the remote end joint. Several experiments to validate the feasibility of the reducing device were carried out.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject		ru_RU
dc.title	A cable-pulley transmission mechanism for surgical robot with backdrivable capability	ru_RU
dc.type	Articles in international journals and collections	ru_RU