The kinematic synthesis of a spatial, hyper-redundant system based on binary electromagnetic actuators

S. Tappe, J. Kotlarski, T. Ortmaier, Michael Dorbaum, A. Mertens, B. Ponick
{"title":"The kinematic synthesis of a spatial, hyper-redundant system based on binary electromagnetic actuators","authors":"S. Tappe, J. Kotlarski, T. Ortmaier, Michael Dorbaum, A. Mertens, B. Ponick","doi":"10.1109/ICARA.2015.7081149","DOIUrl":null,"url":null,"abstract":"Flexible endoscopes are a common instrument for different tasks in minimally invasive surgery. The motion and capability of resistance against manipulation forces of common endoscopes is restricted due to their flexibility. They tend to form loops and stress their surroundings. This paper proposes an active shaft concept based on a new actuation concept: the shaft is a hyper-redundant snake-like robot with binary electromagnetic actuators. This system combines good path following capabilities through actively controlling the whole endoscope body with good resistance with respect to manipulation forces through electromagnetism. The functional concept is presented and the influence of design parameters on kinematic characteristics such as workspace and radius of curvature is evaluated. Additionally, a set of kinematic design parameters is synthesized by minimizing the contouring error. Therefore, a path fitting algorithm is proposed.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"601 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICARA.2015.7081149","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 12

Abstract

Flexible endoscopes are a common instrument for different tasks in minimally invasive surgery. The motion and capability of resistance against manipulation forces of common endoscopes is restricted due to their flexibility. They tend to form loops and stress their surroundings. This paper proposes an active shaft concept based on a new actuation concept: the shaft is a hyper-redundant snake-like robot with binary electromagnetic actuators. This system combines good path following capabilities through actively controlling the whole endoscope body with good resistance with respect to manipulation forces through electromagnetism. The functional concept is presented and the influence of design parameters on kinematic characteristics such as workspace and radius of curvature is evaluated. Additionally, a set of kinematic design parameters is synthesized by minimizing the contouring error. Therefore, a path fitting algorithm is proposed.
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
基于二元电磁作动器的空间超冗余系统的运动学综合
柔性内窥镜是微创手术中不同手术任务的常用工具。普通内窥镜的灵活性限制了其运动和抗操纵力的能力。它们倾向于形成循环,并对周围环境施加压力。基于新的作动概念,提出了主动轴的概念:轴是一个具有二元电磁作动器的超冗余蛇形机器人。该系统通过电磁主动控制整个内窥镜体,结合了良好的路径跟踪能力和良好的操纵力阻力。提出了功能概念,并评估了设计参数对工作空间和曲率半径等运动特性的影响。此外,通过最小化轮廓误差,合成了一组运动设计参数。为此,提出了一种路径拟合算法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
Automated weighing by sequential inference in dynamic environments Implementing a HARMS-based software system for use in collective robotics applications Concepts and simulations of a soft robot mimicking human tongue Application of Inverse Simulation to a wheeled mobile robot Design and experimental testing of vehicle-following control for small electric vehicles with communication
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1