Fig 6 - uploaded by Liao Wu
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Simulation of the last case in Table I. (a) Manipulator's shape (b) Tension vectors, represented by red arrows, applied at the 2 nd disk's bottom surface. (c) Tension vectors applied at the 1 st disk's top surface.
Source publication
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...
Context in source publication
Context 1
... results are presented in Table I and the portrait of the final case is displayed in Fig. 6 as an example. For equal tension cases, the first loading cases of the 1 st , 2 nd and 6 th configurations, the joint angles differ slightly from that of the static model. Theoretically, the aforementioned limitations have no effect on such deviation. It may be induced by the numerical error within the built-in algorithm and the disk ...
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