Wire in the Cable-Driven System of Surgical Robot

[摘要] During the evolution of the surgical robot, cable plays an important role. It translates motion and force precisely from surgeon's hand to the tool's tips. In the paper, the vertical wires, the composition of cable, are mathematically modeled from a geometric point of view. The cable structure and tension are analyzed according to the characteristics of wire screw twist. The structural equations of the wires in different positions are derived for both non-bent cable and bent cable, respectively. The bending moment formula of bent cable is also obtained. This will help researchers find suitable cable and design more matched pulley.

[发布机构] Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, Tianjin University of Technology, China^1;School of Mechanical Engineering, Zhonghuan Information College, Tianjin University of Technology, China^2

[效力级别] 无线电电子学

[关键词] Cable structure;Cable-driven;Structural equations