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contributor authorAgrawal, Varun
contributor authorYao, Bin
contributor authorPeine, William J.
date accessioned2017-05-09T00:57:28Z
date available2017-05-09T00:57:28Z
date issued2013
identifier issn0022-0434
identifier otherds_135_05_051004.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/151343
description abstractCable transmission has significant advantages in the development of a surgical robot which is fully magnetic resonance imaging (MRI) compatible and can work dexterously in the very limited space inside MRI core. However, apart from the nonlinearities due to friction and cable compliance present in the traditional steel cables, the MRI compatible polymeric cables also suffer from the significant viscoelastic behavior. Previous work in cableconduit actuation modeling only addresses the transmission in elastic cables and ignores complex direction and time dependent nonlinear viscoelastic behavior of cableconduits. These effects need to be characterized for system design and nonlinearity compensation. In this paper, an analytical model using standard linear solid model and Coulomb friction is developed to study the transmission characteristics of such a system. The model has been validated by experiments using dyneema cables passing through PEEK conduits, predicting motion and torque transmission with error levels of 3.38% and 16.16%, respectively. The effect of cable viscoelasticity is studied utilizing the model, and corresponding results are compared with that of an elastic cable.
publisherThe American Society of Mechanical Engineers (ASME)
titleModeling of Viscoelastic Cable Conduit Actuation for MRI Compatible Systems
typeJournal Paper
journal volume135
journal issue5
journal titleJournal of Dynamic Systems, Measurement, and Control
identifier doi10.1115/1.4024079
journal fristpage51004
journal lastpage51004
identifier eissn1528-9028
treeJournal of Dynamic Systems, Measurement, and Control:;2013:;volume( 135 ):;issue: 005
contenttypeFulltext


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