Design and Analysis of High-Stiffness Hyperredundant Manipulator With Sigma-Shaped Wire Path and Rolling Joints

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High stiffness is desirable for wire-driven underactuated hyperredundant manipulators used in minimally invasive surgery. However, limited structural stiffness can cause lateral and angular deflections by the lateral force and moment applied to the distal end of the manipulator. This letter proposes a sigma-shaped wire path, which is a combination of parallel and convergent wire paths, for a hyperredundant manipulator with rolling joints. The sigma-shaped wire path applied to the manipulator has the ability to maintain the position and orientation of its distal end for an applied lateral force on the surgical instrument tip. The simple mechanics of deflection of the manipulator with the sigma-shaped wire path are described, and straight-pose experiments were conducted to verify the deflection characteristics of the sigma-shaped wire path. An arbitrary bending-pose experiment was also conducted to verify the stiffness performance. It was observed that the proposed method could enhance the stiffness of the manipulator in both straight and arbitrarily bent poses.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2021-10
Language
English
Article Type
Article
Citation

IEEE ROBOTICS AND AUTOMATION LETTERS, v.6, no.4, pp.7357 - 7364

ISSN
2377-3766
DOI
10.1109/LRA.2021.3095029
URI
http://hdl.handle.net/10203/287173
Appears in Collection
ME-Journal Papers(저널논문)
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