Fig 1 - uploaded by Liao Wu
Content may be subject to copyright.
(a) A 2-segment stiffness-adjustable manipulator, with the exposed view of the intermediate disks on the left. Four tendons are knotted at the 3 rd disk's top while the rest are fixed at the distal end disk's top. (b) The i th joint of a 4-tendon segment.
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...
Contexts in source publication
Context 1
... and PMA [13] to switch between different states of the materials, which, however, requires complex design and integration for effective bi-directional transition between the states. A tendon-driven curve-joint manipulator was proposed which achieves adjustable stiffness while being simple in design and fabrication [14], [15]. As illustrated in Fig. 1a, the design features curved surfaces between adjacent disks connected by groups of tendons. Due to the variation of a neutral line during bending, the stiffness of the manipulator can be adjusted through changing the tensions of the tendons. The applied tensions are endured directly by the disks instead of a backbone or pivot joints. ...
Context 2
... single-segment 2-degree-of-freedom (2-DoF) manipulator with four tendons is shown in Fig. 1b. A base disk is fixed to the ground, and the intermediate disks, followed by a distal end disk, are joined together by tendons travelling through their respective tendon guides. Each tendon has one end forming a knot at the distal end disk's top and the other end connected to an ...
Context 3
... a manipulator with two or more segments (see Fig. 1a), in each segment, there is a separate set of tendons with their ends knotted and placed at the slots of the segment's distal end disk so that the knots will not interfere with the joint ...
Context 4
... (M M M cb,i ) x at every joint becomes non-zero which is against the static model constraint. Secondly, the geometry overlap may make the tension vectors' orientations inaccurate if the tendon guide end pairs are too close (In Fig. 1b, the tendon guide end pair of the 1 st tendon at the i th joint coincides, and thus their tension vectors' orientations are undefined given the aforementioned simulation setup). Therefore, all the tendon guide ends defined in the simulation are displaced by a fixed margin from their respective curved surfaces. ...
Similar publications
Accurate vehicle sideslip angle estimation is crucial for vehicle stability control. In this paper, an enabling event-triggered sideslip angle estimator is proposed by using the kinematic information from a low-cost Global Positioning System (GPS) and an on-board Inertial Measurement Unit (IMU). First, a preliminary vehicle sideslip angle is derive...
