Dynamic Modeling Based on Screw Theory and Lagrange’s Equations of a 3-DOF Cable-Driven Surgical Instrument

Li Ping Xu; Hong Qiang Sang; Li Min Chang

doi:10.4028/www.scientific.net/AMM.541-542.1039

Paper Titles

Drying Modeling and Energy Consumption of Air Dried Sheet (ADS) Rubber by Solar and Biomass Energy
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Open Fault Characteristics and Simple Diagnosis Scheme in a Back-to-Back Converter for Wind Power Conversion
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A New Backward/Forward Algorithm for Weakly Meshed Distribution Systems with Distributed Generation
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Innovative Development of Non-Contact Torque Sensor Applied to Wind Generator
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Dynamic Modeling Based on Screw Theory and Lagrange’s Equations of a 3-DOF Cable-Driven Surgical Instrument
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An Optimized Design of Humanoid Robot Distributed Control System
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Posture Control of a Reconfigurable Mobile Vehicle with Legged Mode
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Optimization of Fuzzy Logic Controller Using PSO for Mobile Robot Navigation in an Unknown Environment
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Research on the Fault Diagnosis Method of the Reconfigurable Modular Robot Based on Second-Order Sliding Mode Observer
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 541-542Dynamic Modeling Based on Screw Theory and...

Dynamic Modeling Based on Screw Theory and Lagrange’s Equations of a 3-DOF Cable-Driven Surgical Instrument

Abstract:

Dynamic model based on screw theory and Lagrange’s equations including dynamic of servo motor rotor of a 3-DOF cable-driven surgical instrument was established in this paper. Overall dynamic of the 3-DOF cable-driven surgical instrument was performed by dynamic model of the open-loop chain surgical instrument after removal of cables and pulley, the mapping relationship model between the joint space and cable space, and rotor dynamic modeling of servo motor, which is the basic of investigating the overall responses and prosperities of surgical instrument.