Measurement of the Cable-Pulley Coulomb and Viscous Friction for a Cable-Driven Surgical Robotic System

Miyasaka, Muneaki and Matheson, Joseph and Lewis, Andrew and Hannaford, Blake Measurement of the Cable-Pulley Coulomb and Viscous Friction for a Cable-Driven Surgical Robotic System. IROS 2015.

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Abstract

In this paper we present experimentally obtained cable-pulley Coulomb and viscous friction for cable-driven surgical robotic systems including RAVEN II system. In the study of controlling cable-driven systems a simple mathematical model which does not capture physical behavior well is often employed. Even though control of such systems is achievable without an accurate model, fully understanding the behavior of the system will potentially realize more robust control. A surgical robot is one of the systems that often relies on cables as an actuation method as well as pulleys to guide them. Systems with such structure encounter frictional force related to conditions of cable and pulley such as cable velocity, tension, type and number of pulley, and angle of cable wrapping around pulley. We developed several test setups that use cable and pulleys identical to RAVEN II. With experimental conditions corresponding to the RAVEN II surgical robot system, experimental data show that cable-pulley friction is function of tension, wrap angle, and number of pulleys and not of magnitude of cable velocity.

Item Type: Article
Subjects: C Surgical Robots > C Surgical Robots(General)
Divisions: Department of Mechanical Engineering
Depositing User: Muneaki Miyasaka
Date Deposited: 04 Jan 2016 23:30
Last Modified: 04 Jan 2016 23:30
URI: http://brl.ee.washington.edu/eprints/id/eprint/282

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