Analysis and design of a cable-driven mechanism for a spherical surgery robot

@article{Rahmati2015AnalysisAD,
  title={Analysis and design of a cable-driven mechanism for a spherical surgery robot},
  author={Zahra Rahmati and Saeed Behzadipour},
  journal={2015 22nd Iranian Conference on Biomedical Engineering (ICBME)},
  year={2015},
  pages={221-226}
}
  • Z. Rahmati, S. Behzadipour
  • Published 1 November 2015
  • Engineering
  • 2015 22nd Iranian Conference on Biomedical Engineering (ICBME)
This paper presents design and analysis of a cable-driven mechanism for a spherical laparoscopy surgical robot manufactured at the Research Center for Science and Technology in Medicine. The design is featured by two types of `idler pulleys', which allow change of cables' plane of motion in spherical workspace. This robot suffers from back-lash and high friction due to the usage of motor and gear-box in each joint. In order to find a precise and optimal design, the paper studies various designs… 
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