Rolling-joint design optimization for tendon driven snake-like surgical robots

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Title: Rolling-joint design optimization for tendon driven snake-like surgical robots
Authors: Berthet-Rayne, P
Leibrandt, K
Kim, K
Seneci, CA
Shang, J
Yang, G-Z
Item Type: Conference Paper
Abstract: The use of snake-like robots for surgery is a popular choice for intra-luminal procedures. In practice, the requirements for strength, flexibility and accuracy are difficult to be satisfied simultaneously. This paper presents a computational approach for optimizing the design of a snake-like robot using serial rolling-joints and tendons as the base architecture. The method optimizes the design in terms of joint angle range and tendon placement to prevent the tendons and joints from colliding during bending motion. The resulting optimized joints were manufactured using 3D printing. The robot was characterized in terms of workspace, dexterity, precision and manipulation forces. The results show a repeatability as low as 0.9mm and manipulation forces of up to 5.6N.
Editors: Maciejewski, AA
Okamura, A
Bicchi, A
Stachniss, C
Song, DZ
Lee, DH
Chaumette, F
Ding, H
Li, JS
Wen, J
Roberts, J
Masamune, K
Chong, NY
Amato, N
Tsagwarakis, N
Rocco, P
Asfour, T
Chung, WK
Yasuyoshi, Y
Sun, Y
Maciekeski, T
Althoefer, K
AndradeCetto, J
Chung, WK
Demircan, E
Dias, J
Fraisse, P
Gross, R
Harada, H
Hasegawa, Y
Hayashibe, M
Kiguchi, K
Kim, K
Kroeger, T
Li, Y
Ma, S
Mochiyama, H
Monje, CA
Rekleitis, I
Roberts, R
Stulp, F
Tsai, CHD
Zollo, L
Issue Date: 7-Jan-2019
Date of Acceptance: 1-Oct-2018
URI: http://hdl.handle.net/10044/1/70995
DOI: https://doi.org/10.1109/IROS.2018.8593517
ISBN: 9781538680940
ISSN: 2153-0858
Publisher: IEEE
Start Page: 4964
End Page: 4971
Journal / Book Title: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Copyright Statement: © 2018 IEEE.
Conference Name: 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Keywords: Science & Technology
Technology
Computer Science, Artificial Intelligence
Computer Science, Information Systems
Robotics
Computer Science
MANIPULATABILITY
Science & Technology
Technology
Computer Science, Artificial Intelligence
Computer Science, Information Systems
Robotics
Computer Science
MANIPULATABILITY
Publication Status: Published
Start Date: 2018-10-01
Finish Date: 2018-10-05
Conference Place: Madrid, Spain
Online Publication Date: 2019-01-07
Appears in Collections:Computing



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