Mechanical Repeater

Abstract

This study proposes a mechanical repeater system designed to transmit tension across long distances to end-effectors in wire-driven devices such as endoscopes. The challenge of frictional losses, which makes it difficult to operate end mechanisms via wires in a reel, is addressed by amplifying force through a device acting similarly to telecommunication repeaters. While it may result in reduced drive speed due to the use of a gearbox, this mechanical solution allows for modular extension without relying on electricity or fluid power. By serially connecting repeater modules, each comprising an infinite rotation transmission device and a gearbox with a specific reduction ratio, the system aims to maintain or amplify force over extended lengths, potentially overcoming the exponential tension loss described by Euler's belt theory. The mechanical repeater's design facilitates extended reach and flexibility, with torque limiters included to prevent damage from excessive output.