Abstract
Nowadays, robotic manipulators act as the essential members in various domains to perform a wide range of tasks. In medical/surgical domain, integration of minimally invasive surgery (MIS) and robotic manipulators has given significant benefits to both, surgeons as well as to patients. In literature, notable contributions have been reported by various researchers for the design and development of MIS robots. For the transmission design of these manipulators, cables are the key elements. Being unilateral elements, they work in tension only. Therefore, for their efficient operation, pre-tension is the prerequisite. To achieve the same, different ways have been introduced in past. However, in the current work, it is noticed that design of such manipulators needs to be refined further. In this direction, current work introduces a novel tension adjustment mechanism for cable-driven robotic manipulator and presents its kinematic and force analyses. Further, various kinematic parameters and forces characterizing the proposed concept are plotted in the MATLAB environment. From these plots, it is learnt that derived formulation is in good agreement with physical behavior of the devised mechanism. To demonstrate the introduced concept, it is proposed to implement the same to a double-parallelogram-based RCM mechanism. Typically, this mechanism is used for MIS applications. For the realization of the embodiment, development of a prototype is in progress. Moreover, the proposed mechanism has potential to provide precise and accurate cable tension with mere standard manufacturing tolerances and assembly methods.
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Singh, A., Khatait, J.P. (2023). Tension Adjustment in Cable-Driven Robots Used for MIS. In: Gupta, V.K., Amarnath, C., Tandon, P., Ansari, M.Z. (eds) Recent Advances in Machines and Mechanisms. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-3716-3_41
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DOI: https://doi.org/10.1007/978-981-19-3716-3_41
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