Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 10, 2017 - May 13, 2017
In this paper, a pneumatically driven robotic forceps with tip rotation mechanism is proposed. The forceps have 2 degree of freedoms (DOFs) for bending joint, tip rotation and a gripper. The outer diameter of the forceps is 5mm. The bending joints and gripper is driven by pneumatic cylinders and rotation is driven by a pneumatic vane motor. The gripping and the rotation can be drive at the same time by drilling a hole at the shaft of the vane motor to pass the driving wire of the gripper. The forceps is suitable for suturing tasks, since only the gripper portion of the forceps rotates in this tip rotation mechanism, fine rotation operation is possible. The control performance of the prototyped forceps is evaluated experimentally.
