Abstract
A modular surgical robot design is presented in this paper. The focus is on making the robot more flexible and reconfigurable, while ensuring human-safe robot interactions. The cable-driven robot has modular link and joint designs, enabling a variety of serial configurations. The joint design includes a biasing spring which inherently creates a maximum load threshold while also reducing the number of actuating cables by half. Safety of this joint mechanism is ensured by a ratchet-based locking mechanism. Design and analysis of this robot are presented.
Original language | English (US) |
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Pages (from-to) | 77-84 |
Number of pages | 8 |
Journal | Mechanisms and Machine Science |
Volume | 66 |
DOIs | |
State | Published - 2019 |
Keywords
- Cable-driven robot
- Human-safe robotic joint
- Modular robot configuration
- Surgical robot
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering