Cable Driven Robots: Hysteretic Cable Stretch, Cable-Pulley Network Friction, Fatigue Life, and Kinematics of Two-Arm Multi-Staged Flexible Manipulator

Miyasaka, Muneaki (2017) Cable Driven Robots: Hysteretic Cable Stretch, Cable-Pulley Network Friction, Fatigue Life, and Kinematics of Two-Arm Multi-Staged Flexible Manipulator. Doctoral thesis, University of Washington.

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Abstract

Cable driven mechanisms face control challenges associated with dynamic friction from guide pulleys due to variable cable tension and hysteretic response of cable. In this thesis, a new dynamic models of cable driven mechanism, cable-pulley network friction and hysteretic stretch of longitudinally loaded cable, are developed in order to improve control accuracy and robustness. Moreover, fatigue life of cable is investigated and a prediction model is presented which can ensure safe operation of the robot. The specifications used for the experimental setup for the model development is based on the RAVEN II cable driven surgical robot and the model verification was performed using the same system. This thesis also presents the kinematics of the Roboscope, surgical robot for skullbase surgery and neurosurgery. The system has two-arm flexible cable driven manipulator which faces coupling effect. Detailed kinematics the system with the coupling effect is developed and analyzed.

Item Type: Thesis (Doctoral)
Subjects: C Surgical Robots > C Surgical Robots(General)
Divisions: Department of Mechanical Engineering
Depositing User: Blake Hannaford
Date Deposited: 01 Nov 2017 05:29
Last Modified: 01 Nov 2017 05:29
URI: http://brl.ee.washington.edu/eprints/id/eprint/315

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