Design and control of a novel multi-state compliant safe joint for robotic surgery
Refereed conference paper presented and published in conference proceedings

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摘要In this paper, we propose a novel design of compliant safe joint, which has flexibility when the work load exceeds a predefined threshold. The compliance is generated by a spring. We design a special transmission mechanism to convert axial motion into circumferential motion such that the linear compliance can be converted into circular one. When the end-effector of a surgical robot actuated by the compliant safe joints collides with patient's body, the compliance of the joints will protect the patient by absorbing part of the collision energy. Because of the system's special mechanical structure, the control methods should be different when it works under different states. We propose a simple algorithm to choose control methods so that the system can work both under rigid and flexible states with different controllers. We have built a prototype to validate the design and the controller.
著者Wang Z., Li P., Navarro-Alarcon D., Yip H.M., Liu Y.-H., Lin W., Li L.
會議名稱2015 IEEE International Conference on Robotics and Automation, ICRA 2015
會議開始日26.05.2015
會議完結日30.05.2015
會議地點Seattle
會議國家/地區美國
詳細描述organized by IEEE,
出版年份2015
月份1
日期1
卷號2015-June
期次June
頁次1023 - 1028
國際標準期刊號1050-4729
語言英式英語

上次更新時間 2020-03-12 於 00:04