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

  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)},
  • 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… 
1 Citations

Figures and Tables from this paper

Design of Redundant Drive Wire Mechanism with Velocity Constraint Modules to Reduce the Number of Actuators for Producing Fast and Precise Motions
This thesis proposes the design of redundant drive wire mechanism (RDWM: Redundant Drive Wire Mechanism) for producing fast and precise motions. The RDWM is configured with double actuator modules


Torque and workspace analysis for flexible tendon driven mechanisms
The fundamental equations of m antagonistic tendon driven mechanisms are reviewed and two quality measures, similar to those used in grasp planning, are presented, which provide the designer with a more precise insight into the mechanism.
The Effect of Transmission Design on Force-Controlled Manipulator Performance.
Abstract : The concept of manipulator force control and a corresponding emphasis on the choice of appropriate servo implementation have been developing for many years. However, the selection of
Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation
Electromyography (EMG) measurements on eight important leg muscles, show that free walking in the device strongly resembles free treadmill walking; an indication that the device can offer task-specific gait training.
Design and implementation of a haptic device for training in urological operations
A new force feedback haptic mechanism with five active degrees of freedom (DOFs) used as part of a training simulator for urological operations, designed to present low friction, inertia and mass, and to be statically balanced.
Design of a Cable-Driven Arm Exoskeleton (CAREX) for Neural Rehabilitation
This paper is the first to demonstrate via experiments with cable-driven arm exoskeleton (CAREX) that it is possible to achieve desired forces on the hand, i.e., both pull and push, in any direction as required in neural training.
The NIST robocrane
A revolutionary new type of robot crane, the NIST ROBOCRANE, has been developed that can control the position, velocity, and force of tools and heavy machinery in all six degrees of freedom.
Rope Selection for Rope Drive Transmissions Used in Robotic Manipulation
Body Wire and fiber ropes used in rigorous CBOS (cyclic bend over sheave) applications were investigated. Small diameter stainless steel, tungsten, and Vectran® ropes were tested over small sheaves
Improving bend-over-sheave fatigue in fiber ropes
  • F. Sloan, R. Nye, T. Liggett
  • Engineering
    Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492)
  • 2003
One of the limitations of synthetic fiber ropes in industrial uses has been the premature wear of these materials when subjected to continuous bend-over-sheave fatigue. While one-way passage over
Preliminary design of a whole-arm manipulation system (WAMS)
An approach to manipulation that uses all the available manipulation surfaces of the robot to act on and sense the environment is outlined and a three-degree-of-freedom underwater manipulator using a number of the resulting design concepts is described.
Shigley's Mechanical Engineering Design
Part 1: Basics Chapter 1: Introduction to Mechanical Engineering Design Chapter 2: Materials Chapter 3: Load and Stress Analysis Chapter 4: Deflection and Stiffness Part II: Failure Prevention