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A cable-pulley transmission mechanism for surgical robot with backdrivable capability

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dc.date.accessioned 2019-01-22T20:37:35Z
dc.date.available 2019-01-22T20:37:35Z
dc.date.issued 2018
dc.identifier.issn 0736-5845
dc.identifier.uri https://dspace.kpfu.ru/xmlui/handle/net/148018
dc.description.abstract © 2017 Compact actuators, low friction and back-drivable transmissions are essential components in haptic and impedance type surgical robotic systems, since their performances affect overall volume, force feedback capability and power consumption. An innovative miniaturized, low friction, back-drivable reducing mechanism for haptic or surgical robot applications has been designed, developed and evaluated. A new differential mechanism having a cable comprises a sheave wheel supported by a yolk is also implemented. Low friction and back-drivable, compared to conventional non-back-drivable mechanisms based on gear coupling, is achieved by means of differential cable driven method. The system has been integrated with a permanent-magnet DC motor and a drum on which a tendon is wound, and then finally connected to the remote end joint. Several experiments to validate the feasibility of the reducing device were carried out.
dc.relation.ispartofseries Robotics and Computer-Integrated Manufacturing
dc.subject Backdrivability
dc.subject Cable pulley transmission
dc.subject Force feedback
dc.subject Reducing device
dc.title A cable-pulley transmission mechanism for surgical robot with backdrivable capability
dc.type Article
dc.relation.ispartofseries-volume 49
dc.collection Публикации сотрудников КФУ
dc.relation.startpage 328
dc.source.id SCOPUS07365845-2018-49-SID85027582699


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  • Публикации сотрудников КФУ Scopus [24551]
    Коллекция содержит публикации сотрудников Казанского федерального (до 2010 года Казанского государственного) университета, проиндексированные в БД Scopus, начиная с 1970г.

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