Modeling of a closed loop cable-conduit transmission system

  title={Modeling of a closed loop cable-conduit transmission system},
  author={Varun Agrawal and William J. Peine and Bin Yao},
  journal={2008 IEEE International Conference on Robotics and Automation},
Many surgical robots use cable-conduit pairs in a pull-pull configuration to actuate the instruments and transmit power into the patient's body. Friction between the cable and the conduit makes the system nonlinear and accounts for major losses in tension transmission across the cable. This paper proposes an analytical model for a similar cable-conduit system and formulates the load transmission characteristics. The dynamic model uses discrete elements with friction losses and cable stretch… CONTINUE READING
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Salisbury , “ The effect of coulomb friction and stiction on force control

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