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RISDesign, Analysis, and Development of a Novel 6-Degrees-of-Freedom Surgical Robot Using Cable-Driven Composite Continuum Mechanisms With Decoupling Kinematic Method
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article investigates decoupled motion control and dimension optimization of composite notched continuum mechanisms. In general, the end-effectors of endoscopic surgical robots predominantly consist of rigid articulated ...
Development of a New Cable-Driven Planar Parallel Continuum Robot Using Compound Kinematic Calibration Method
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the design, calibration, and development of a novel cable-driven planar parallel continuum robot (PCR). The PCR employs a novel drive unit, which is mainly composed of cables, guiding pulleys, and ...