A Novel Passive Pretension Mechanism for Wire-Driven Discrete Continuum Manipulators

Yeshmukhametov, Azamat; Koganezawa, Koichi; Seidakhmet, Askar; Yamamoto, Y.

doi:10.1109/sii46433.2020.9025998

Cited by 12 publications

(4 citation statements)

References 11 publications

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“…The previous pre-tension mechanism prototype was a fully passive mechanism to compensate wire-tension during the motion, but the new hybrid prototype represents a passive and active mechanism (Figure 4) (Yeshmukhametov et al , 2020). Hybrid pretension mechanism provides a two-level of tension compensation; firstly in a passive way, compressional spring will push wire routing slider along the linear guide shaft, the second level intends to maintain wire-tension actively; attached linear potentiometers feedback information about wire-tension to the Arduino board that sends a command to the driving motors to maintain required tension (Figure 5).…”

Section: Robot Designmentioning

confidence: 99%

Study on multi-section continuum robot wire-tension feedback control and load manipulability

Yeshmukhametov

Koganezawa

Buribayev

et al. 2020

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Purpose The purpose of this paper is to present a novel hybrid pre-tension mechanism for continuum manipulators to prevent wire slack and improve continuum robot payload capacity, as well as to present a new method to control continuum manipulators’ shape. Design/methodology/approach This research explains the hardware design of a hybrid pre-tension mechanism device and proposes a mathematic formulation wire-tension based on robot design. Also, the wire-tension control method and payload estimation model would be discussed. Findings Wire-tension is directly related to the continuum manipulators’ rigidity and accuracy. However, in the case of robot motion, wires lose their tension and such an issue leads to the inaccuracy and twist deformation. Therefore, the proposed design assists in preventing any wire slack and derailing the problem of the wires. Originality/value The novelty of this research is proposed pre-tension mechanism device design and control schematics. Proposed pre-tension mechanism designed to maintain up to eight wires simultaneously.

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Section: Robot Designmentioning

confidence: 99%

Study on multi-section continuum robot wire-tension feedback control and load manipulability

Yeshmukhametov

Koganezawa

Buribayev

et al. 2020

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“…Thus, the PtM device can compensate tension for eight cables simultaneously with no electronic devises being required for operation, which will enhance device reliability. Detailed analysis of pre-tension mechanism is here [26]. In order to avoid a spring buckling effect, the spring constant of pretension mechanism spring and single segment spring constant value should be equal.…”

Section: Pretension Mechanism Designmentioning

confidence: 99%

A Wire-Driven Discrete Continuum Robot Sliding and Non-sliding Backbone Design Analysis and Validation of Kinematics/Kinetics

Yeshmukhametov¹,

Buribayev²,

Amirgaliyev³

et al. 2020

Preprint

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Wire-driven hyper-redundant continuum manipulators are gaining more popularity and finding more applications in industry and in minimally invasive surgery. Unlike traditional rigid link manipulators, continuum robots with a flexible backbone structure are able to work in a highly constrained workspace and in an unstructured environment. However, in spite of a possible wide range of reachability, continuum manipulators have some issues related to payload capacity, accuracy and control. Therefore, in this research, we propose a novel hyper-redundant continuum robot with a passive sliding disc mechanism to improve payload capacity and accuracy. To prove the sliding mechanism concept, we demonstrate a comparison analysis with a conventional non-sliding continuum robot arm in a payload test, a bending test and a reachability test. Moreover, with this novel design, we are proposing robot kinematics and kinetic formulation and simulation results to validate the effectiveness of the sliding disc mechanism.

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“…The tendon drive used in this system was a flexible Bowden cable tether and a spring element was employed to generate necessary tension in another tendon element, a chain. Yeshmukhametov et al 10 have proposed a passive pretension mechanism for wire-driven continuum manipulators. Lee et al 11 have reported the friction analysis of a cable-pulley arrangement, typically used to drive a surgical instrument.…”

Section: Introductionmentioning

confidence: 99%

Mechanism for tension adjustment in tendon driven remote center-of-motion mechanism for minimally invasive surgery

Singh

Khatait

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Tendon drive is used for transmission design in applications ranging from wearable rehabilitation and surgical robots to industrial robots. For their efficient operation, one of the principal design requirements is to have adequate tension in the tendon element. This paper introduces a novel mechanism for tension adjustment using a secondary cable-pulley arrangement via a lever mechanism. An adjustment in a tension spring applies a force in the tendon element meant for the transmission of remote centre-of-motion (RCM) mechanism for medical robotic application. Thereafter, the current work presents the kinematic and force analyses of the proposed concept along with a series of plots of various mechanism parameters. The variation of these parameters is in good agreement with the physical motion of the devised mechanism. As compared to the conventional methods of tension adjustment, the proposed concept is a better solution for problems that arise due to low manufacturing tolerances and the need for independent tension adjustment in a multi degrees-of-freedom tendon driven RCM mechanism. In the preferred embodiment, it is proposed to use cables (wire-ropes) as tendon elements to drive a mechanically constrained double-parallelogram-based RCM mechanism which is extensively used for Minimally Invasive Surgery. From this implementation, it is learnt that the presented mechanism can be implemented in several configurations. However, this paper presents the preferred embodiment only which meets the demand, of invariant tendon length, of the RCM mechanism under consideration. An initial prototype is made from acrylic sheets, PLA material, and standard elements (like bearings, pulleys, aluminum pins, 0.5 mm stainless-steel wire-rope, etc.) using laser micromachining and 3D printing.

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A Novel Passive Pretension Mechanism for Wire-Driven Discrete Continuum Manipulators

Cited by 12 publications

References 11 publications

Study on multi-section continuum robot wire-tension feedback control and load manipulability

Study on multi-section continuum robot wire-tension feedback control and load manipulability

A Wire-Driven Discrete Continuum Robot Sliding and Non-sliding Backbone Design Analysis and Validation of Kinematics/Kinetics

Mechanism for tension adjustment in tendon driven remote center-of-motion mechanism for minimally invasive surgery

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