Fig 2 - uploaded by Liao Wu
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Force vectors acted on the bottom of the i th disk and the top of the (i − 1) th disk corresponding to Fig. 1b.

Force vectors acted on the bottom of the i th disk and the top of the (i − 1) th disk corresponding to Fig. 1b.

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In minimally invasive surgery, miniaturisation and in situ adjustable stiffness of robotic manipulators are desired features. Previous research proposed a simple and effective tendon-driven curve-joint manipulator design using a variable neutral-line mechanism, which highly satisfies both criteria. A kinematic model was developed for such a manipul...

Contexts in source publication

Context 1
... determine the manipulator's static pose, every joint angle must be computed. This is achievable with a singledisk model, whose free body diagram is shown in Fig. 2a and 2b. Each consists of the disk and the tendon segments within its tendon ...
Context 2
... were performed on Adams View 2020 to validate the correctness of the static model. Multiple disks are initially stacked together with slight vertical overlap. On each disk, tension vectors, corresponding to the components f f f tt and f f f tb in Fig. 2, are located at the tendon guide ends' centers and directed towards the centers of their paired tendon guide ends to which the same tendons travel at the same joint, respectively. Their magnitudes equal the tensions applied to their corresponding tendons. Contact reaction components on curved surfaces, namely f f f ct , M M M ct , f f ...
Context 3
... at the tendon guide ends' centers and directed towards the centers of their paired tendon guide ends to which the same tendons travel at the same joint, respectively. Their magnitudes equal the tensions applied to their corresponding tendons. Contact reaction components on curved surfaces, namely f f f ct , M M M ct , f f f cb , and M M M cb in Fig. 2, are computed by the built-in contact module in Adams View, with high stiffness and frictional coefficient for rigid body behaviour and purely rolling motion. Besides, the base disk is fixed to the ground. Static simulation was performed to ignore inertia. For each loading case, the applied tensions' magnitudes are all initially set to ...

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