A study for the dynamic system of coupled cable-driven structure in surgical robot instrument

Many surgical robots adopt a tendon driven mechanism using cable and pulley to transmit the power. However, although tension is the main medium of power structurally, it is directly related with cable material characteristics including not only elastic region which make it able to use fixed spring c...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Chi Yen Kim, Min Cheol Lee, Sung Min Yoon, Byeong Ho Kang
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Dynamics Equations Force Instruments Mathematical model Medical robotics Pulleys
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