日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
論文
ばね–リンク機構を用いた外殻型2自由度屈曲マニピュレータの開発
荒田 純平齊藤 善崇藤本 英雄
著者情報
ジャーナル フリー

2011 年 29 巻 6 号 p. 523-531

詳細
抄録

In recent years, robotic technology has been introduced to medical fields and many surgical robots have been presented. In this paper, an outer shell type 2 DOF bending manipulator using a spring-link mechanism is presented. The mechanism was developed for a surgical robot, which can implement various surgical treatment devices inside of the manipulator. The spring-link mechanism is a simple combination of a flat spring and a rigid link with a passive joint connection. The outer shell type 2 DOF bending manipulator incorporates four spring-link mechanisms. The most unique feature of the manipulator is that these four springs are interconnected in the kinematics. Therefore, it is possible to realize a robust and backlash-free motion by taking into account the interconnections of the springs such as an internal stress of the structure. In addition, by locating the four spring-link mechanisms around the manipulator, it is possible to place medical devices inside of the manipulator. This paper describes the kinematic model, analysis, prototype implementation and evaluation of the proposed mechanism.

著者関連情報
© 2011 日本ロボット学会
前の記事 次の記事
feedback
Top