A novel constrained wire-driven flexible mechanism and its kinematic analysis
作者： Zheng Li , Hongliang Ren , Philip Wai Yan Chiu , Ruxu Du , Haoyong Yu
DOI: 10.1016/J.MECHMACHTHEORY.2015.08.019
关键词:
摘要: Abstract Snake-like flexible manipulators are widely used in minimally invasive surgery (MIS), which require adequate dexterity confined workspace. Typically, the design mechanisms of these include tendon-driven mechanism and concentric tube mechanism. Though, workspace designs limited due to lack control either length bending section or curvature at distal end. In this paper, we present a novel constrained wire-driven (CWFM), both controllable. The idea is employ an active constraint use wires section. Compared existing based on (WFM), CWFM has expanded enhanced while its size not sacrificed. Additional benefits much reduced sweeping area controllable stiffness. Based computer simulation, average, with same as WFM can improve by 4.69 times reduce 20.5%.
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