• Title/Summary/Keyword: Wire-Driven Mechanism

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Hand-controller Mechanism and its Optimal Design Method for Manually Controlled Endoscopic Surgical Instrument (내시경 수술 도구의 수동 조작 메커니즘 및 이의 최적 형상 설계)

  • Lee, Hoyul;Song, Chanho;Son, Jaebum
    • The Journal of Korea Robotics Society
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    • v.14 no.3
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    • pp.203-210
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    • 2019
  • This paper proposes a hand-controller mechanism for manually controlled endoscopic surgical instruments. A wire-driven mechanism is typically adapted for endoscopic surgical tools because motors cannot be embedded to the joints due to the size limitation. The wire-driven mechanism requires length control of wires that are pulled and released according to the desired joint angle. It is difficult for the operator to control individual wire lengths intuitively. The hand-controller mechanism should be able to control the wires easily without complex processes. For this purpose, we propose a mechanism that can control the wire lengths with a simple mechanical structure and its optimal design method using genetic algorithm. We show the simulation and experimental results to confirm the proposed mechanism and design methods are useful for the manually controlled endoscopic surgical instrument.

Continuum Mechanism with increased force and Optimal Design Method for Manually Controlled Endoscopic Surgical Instrument (수동 조작 내시경 수술 도구를 위한 힘이 증가된 연속체 메커니즘 및 이의 최적 형상 설계)

  • Lee, Hoyul;Jung, Euisung;Jeong, Yoosoo;Park, Young-Sang;Song, Chanho;Son, Jaebum
    • The Journal of Korea Robotics Society
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    • v.16 no.2
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    • pp.164-171
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    • 2021
  • This paper proposes a continuum mechanism for manually controlled endoscopic surgical instruments. The wire-driven mechanism is typically adapted for endoscopic surgical tools because motors cannot be embedded to the joints due to the size limitation. However, the conventional wire-driven mechanism has inherent problems caused by redundancy, such as deflection and low precision. It does not have operating force and manipulability for surgery. Therefore, a method to increase the force of the continuum mechanism using a multi-wire with simple mechanical structure is proposed. Moreover, for intuitive operation, a hand-controller mechanism that can manipulate the length of the wire without complex process is proposed. Finally, we show that the proposed mechanism and methods are applicable to endoscopic surgical tools through simple experiments.

Design and Control of a Wire-driven Haptic Device;HapticPen

  • Farahani, Hossein S.;Ryu, Je-Ha
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.1662-1667
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    • 2005
  • In this paper, analysis, design, control and prototype construction of a wearable wire-driven haptic interface called HapticPen is discussed. This device can be considered as a wire driven parallel mechanism which three wires are attached to a pen-tip. Wire tensions are provided utilizing three DC servo motors which are attached to a solid frame on the user's body. This device is designed as input as well as output device for a wearable PC. User can write letters or figures on a virtual plate in space. Pen-tip trajectory in space is calculated using motor encoders and force feedback resulting from contact between pen and virtual plate is provided for constraining the pen-tip motion onto the virtual plane that can be easily setup by arbitrary non-collinear three points in space. In this paper kinematic model, workspace analysis, application analysis, control and prototype construction of this device are presented. Preliminary experiments on handwriting in space show feasibility of the proposed device in wearable environments.

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Transmission Characteristics of a Wire-Driven Bridge Transported Servo Manipulator Prototype for the ACP Maintenance (차세대관리 공정장치 유지보수용 천정이동 서보 매니퓰레이터 시제품의 와이어 구동부 동작특성)

  • 박병석;진재현;송태길;김성현;윤지섭
    • Proceedings of the Korean Radioactive Waste Society Conference
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    • 2004.06a
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    • pp.306-315
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    • 2004
  • A Bridge Transported Servo Manipulator (BTSM) for Advanced spent fuel Conditioning Process (ACP) has been developed to overcome the limitation of access that is a drawback of Mechanical master-slave manipulators (MSMs) for the equipment maintenance. Wire-driven mechanisms have been adopted to increase the handling capacity to weight. The main disadvantage of the wire driven mechanism is that if one link is in motion, other links can be affected because wires and links are coupled. In this paper, the relationship between pulleys and links are formiliarized to overcome this drawbacks, Derived equations are proven and analyzed through experiments.

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A Piezo-driven Fine Manipulation System Based on Flexure Hinges for Manipulating Micro Parts (미세 부품 조작을 위한 탄성힌지 기반 압전소자 구동형 초정밀 머니플레이션 시스템)

  • Choi, Kee-Bong;Lee, Jae-Jong;Kim, Gee-Hong;Ko, Kuk-Won
    • Journal of Institute of Control, Robotics and Systems
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    • v.15 no.9
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    • pp.881-886
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    • 2009
  • This paper presents a manipulation system consisting of a coarse/fine XY positioning system and an out-of-plane manipulator. The object of the system is to conduct tine positioning and manipulation of micro parts. The fine stage and the out-of-plane manipulator have compliant mechanisms with flexure hinges, which are driven by stack-type piezoelectric elements. In the fine stage, the compliant mechanism plays the roles of motion guide and displacement amplification. The out-of-plane manipulator contains three piezo-driven compliant mechanisms for large working range and fine resolution. For large displacement, the compliant mechanism is implemented by a two-step displacement amplification mechanism. The compliant mechanisms are manufactured by wire electro-discharge machining for flexure hinges. Experiments demonstrate that the developed system is applicable to a fine positioning and fine manipulation of micro parts.

The Invention of New Electro-Mechanical Brake Calipers Utilizing Patent Analysis Results (특허분석 결과를 활용한 새로운 전기기계 브레이크의 발명)

  • Han, In-Hwan;Park, Sang-Il
    • Transactions of the Korean Society of Automotive Engineers
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    • v.15 no.1
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    • pp.125-132
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    • 2007
  • Within the framework of brake-by-wire technology, this paper presents five types of novel models of electro-mechanical disk brake calipers with self-servo mechanism which provides self-servo effect of boosting a friction force generated between the brake pad and the rotor disk surface. The models have been developed utilizing patent map analysis results of previous invents of electro-mechanical brake calipers. The feasibility of the developed motor-driven brake caliper models have been validated through the dynamic simulation analysis. Among the developed models, the caliper mechanism with separated pressure plate was designed especially in detail and was made as a pilot. The pilot caliper has been installed on the simple test bed constructed with domestic passenger car brake components, and its function and effectiveness have been validated through several types of experimental tests.

Transmission Characteristics on Wire-Driven Links of a Bridge Transported Servo Manipulator for the ACP Equipment Maintenance (사용후핵연료 차세대관리 공정장치 유지보수용 천정이동 서보 매니퓰레이터 와이어 구동부 동작특성)

  • 박병석;진재현;송태길;김성현;윤지섭
    • Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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    • v.2 no.3
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    • pp.189-199
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    • 2004
  • A bridge transported servo manipulator (BTSM) system for the advanced spent fuel conditioning process (ACP) has been developed to overcome the limitation of access, which is a drawback of mechanical master-slave manipulators (MSM) for the equipment maintenance. The servo manipulator is composed of a slave manipulator attached to the telescoping tubesets equipped with the overhead bridge installed at a hot cell and a master manipulator installed at an out-of-hot cell. Each manipulator has 7 degrees-of-freedom (DOF): a body rotation, an upper-arm tilt, a lower-arm tilt, a lower-arm rotation, a wrist pan & tilt, and a grasp motion. A wire-driven mechanism for a lower-arm rotation, a wrist pan and tilt, and a grasp motion of the manipulator has been adopted to increase the handling capacity compared to the manipulator weight and decrease the friction. The main disadvantage of the wire-driven mechanism is that if one link is in motion, other links can be affected. In this paper, the transmission characteristics among the wire-driven links have been formulated to overcome this drawback. The unexpected behaviors are confirmed by analyses of transmission characteristics as well as experiments. Also, the experimental results show that the unexpected behaviors are greatly decreased by the proposed compensation equations.

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Design and Control of Wire-driven Flexible Robot Following Human Arm Gestures (팔 동작 움직임을 모사하는 와이어 구동 유연 로봇의 설계 및 제어)

  • Kim, Sanghyun;Kim, Minhyo;Kang, Junki;Son, SeungJe;Kim, Dong Hwan
    • The Journal of Korea Robotics Society
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    • v.14 no.1
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    • pp.50-57
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    • 2019
  • This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.

Pan-tilt Motion Generation of Robot Eye by Using a Pair of Push-pull Wires (한 쌍의 푸쉬-풀 와이어를 이용한 로봇 안구의 팬-틸트 모션 생성)

  • Jung, Chan-Yul;Oh, Kyung-Geune;Park, Shin-Suk;Kim, Seung-Jong
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.21 no.1
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    • pp.3-8
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    • 2011
  • This paper introduces a robot eye module, of which two degree-of-freedom motions, i.e. panning and tilting, are driven by a pair of wires. The main feature of the module is that each wire can generate push-pull motion without buckling. It is thanks to a Teflon tube which guides the path of the moving wire. End points of the tube and wire have pivot elements so that a smooth push-pull motion is produced even when the end point of wire is moved by eye rotation. This mechanism helps the eye module to be very compact. In this paper, the structure of the robot eye module is introduced in detail, and the required motor angles for a certain direction of eye line are investigated analytically and experimentally.

Wire frame drive unit ofa SMA-based 3D shape display (SMA을 이용한 3차원 형상제시기의 와이어프레임 구동 유닛)

  • Chu Y.J.;Kim Y.M.;Song J.B.;Park S.S.
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2006.05a
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    • pp.439-440
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    • 2006
  • This research proposes a novel method of shape display to present 3-dimensional objects. Shape displays allow us to feel the actual volume of the object, unlike conventional 2D visual displays of 3D objects. The proposed method employs a wire frame structure to present 3D objects. The wire frame is composed of small units driven by shape memory alloy(SMA) actuators. The drive unit is analogous to the agonist-antagonist system of animal musculoskeletal systems, where the SMA actuators serve as agonist and antagonist muscles. The force in the SMA actuator is controlled by electrical current. The drive unit is equipped with the locking mechanism so that it can sustain the external force exerted by the user as well as the own weight of the wire frame structure. By controlling the current into the SMA actuator and locking mechanism, we call control the angle of the drive unit. A chain of drive units enables presentation of 2 dimensional objects. 3 dimensional presentations are possible by collecting the chains of drive units.

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