文献类型： 会议论文

第一作者： Kyle W. Eastwood

作者： Kyle W. Eastwood ¹ ; Hamidreza Azimian ² ; Brian Carrillo ³ ; Thomas Looi ⁴ ; Hani E. Naguib ⁵ ; James M. Drake ⁶ ;

作者机构： 1.Institute for Biomaterials and Biomedical Engineering, University of Toronto, ON M5S 2J7 CAN

2.Center for Image-Guided Innovation and Therapeutic Intervention, The Hospital for Sick Children, Toronto, ON M5G 1X8, CAN

3.Otosim Inc., Toronto, ON M5G 1X8, CAN

4.Institute for Biomaterials and Biomedical Engineering, University of Toronto, ON M5S 2J7, CAN

5.Mechanical and Industrial Engineering Department, University of Toronto, ON M5S 3G8, CAN

6.Department of Neurosurgery, The Hospital for Sick Children, Toronto, ON M5G 1X8, CAN

关键词： Electron tubes;Load modeling;Geometry;Kinematics;Electronic mail;Tendons;Analytical models

会议名称： IEEE/RSJ International Conference on Intelligent Robots and Systems

主办单位：

页码： 2381-2387

摘要： We present a kinetostatic model for a needle-sized notched tube continuum joint design, and examine the impact that the design parameters have on both stiffness and joint kinematics. The joint is fabricated by removing a series of asymmetric notches from a metal tube. By fixing a cable to the distal end of the tube, and routing this tendon through the tube's lumen, the joint can be actuated in bending. This simple cutting pattern allows for impressive performance compared to other mechanisms of similar size. However, selecting the cutting geometry using kinematics alone results in many redundant solutions. Since the notches significantly affect the overall structure's stiffness, and limit the maximum forces that it can transmit, a stiffness model can be used to constrain the design-space. Further, because the notch geometry represents a non-prismatic beam configuration, modelling the force-deflection behavior is nontrivial. We have approached this problem using a variation of Castigliano's 2nd Theorem, experimentally validated its performance with several test specimens, and analyzed the behavior of the model over a design space specific to neurosurgical applications. The outcomes of this study aim to aid in the design of joints given task-specific constraints, particularly within the field of surgical robotics.

分类号： TP242.6-53