Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/101413
Title: Modeling tendon-sheath mechanism with flexible configurations for robot control
Authors: Wang, Zheng
Sun, Zhenglong
Phee, Soo Jay
Keywords: DRNTU::Engineering::Mechanical engineering::Robots
Issue Date: 2013
Source: Wang, Z., Sun, Z., & Phee, S. J. (2013). Modeling tendon-sheath mechanism with flexible configurations for robot control. Robotica, 31(7), 1131-1142.
Series/Report no.: Robotica
Abstract: Surgical and search/rescue robots oftenwork in environments with very strict spatial constraints. The tendon-sheath mechanism is a promising candidate for driving such systems, allowing power sources and actuation motors placed outside to transmit force and energy to the robot at the distal end through the constrained environment. Having both compactness and high force capability makes it very attractive for manipulation devices. On the other hand, the friction attenuation of tendon tension is nonlinear and configuration-dependent due to tendon/sheath interactions throughout the transmission path. This is amajor obstacle for the tendon-sheath mechanism to be widely adopted. Here,we focus on the friction analysis for flexible and time-varying tendon-sheath configurations: the most challenging but yet commonly encountered case for real-world applications. Existing results on fixed-path configurations are reviewed, revisited, and extended to flexible and time-varying cases. The effect of tendon length to friction attenuation is modeled. While focusing on tension transmission, tendon elongation is also discussed with the length effect applied. In the end, two-dimensional results are extended to three-dimensional tendon-sheath configurations. All propositions and theorems are validated on a dedicated experimental platform.
URI: https://hdl.handle.net/10356/101413
http://hdl.handle.net/10220/18669
DOI: 10.1017/S0263574713000386
Schools: School of Mechanical and Aerospace Engineering 
Rights: © 2013 Cambridge University Press. This paper was published in Robotica and is made available as an electronic reprint (preprint) with permission of Cambridge University Press. The paper can be found at the following official DOI: [http://dx.doi.org/10.1017/S0263574713000386]. One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper is prohibited and is subject to penalties under law.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Journal Articles

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