Evaluation and Improvement of Performance Parameters for a Mechanical System Used in Minirobotics

Abstract:

The concept, design and construction of mechanical systems performance is limited by the ranges prescribed for different performance parameters (size, accuracy, repeatability, quality, safety, and cost). The aim of the research is to evaluate and improve the performance parameters for a mechanical system with multiple vertebrae drive by wire, to perform functions of exploration, inspection and intervention in limited space environments (anatomical). New mechanical structure contains modules that allow changing the work parameter and the algorithms to control the location (position, orientation) of the end effector. Sensory system can be configured depending on the product and the program chosen, embracing suitable position, bending and strength sensors. Error compensation by a feedback process has become the most economical solution and easier to apply. Rigidity functions and bending forces resolution are presented along with a simulation of robotic arm positions for all vertebrae. The results demonstrate the capability of this system to perform precise movements to an imposed target.

• Periodical: Applied Mechanics and Materials (Volume 798)
• Pages: 15-19
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.798.15
• Online since: October 2015
• Authors: Violeta Cristina Contoloru*, Sorin Dumitru
• Keywords: Architecture, Mechanical Systems, Minirobotics, Optimization, Performance

References

[1] Davies, B., A review of robotics in surgery, Volum Part H, pg. 129-140, Institution of Mechanical Engineerings, (2000).

[2] P. Dario, et al., A novel mechatronic tool for computer-assisted arthroscopy, IEEE transactions on information technology in biomedicine, vol. 4, pp.15-29, (2000).

DOI: 10.1109/4233.826855

[3] Vogan, J., et al., Manipulation in MRI devices using electrostrictive polymer actuators: with an application to reconfigurable imaging coils, New Orleans, LA, United States, (2004).

DOI: 10.1109/robot.2004.1307436

[4] Degani, A., Choset, H., Wolf, A., Takeyoshi O., Zenati, M., Percataneous Intrapericardial Intervantions Using a Highly Articulated Robotic Probe, International Conference on Biorobotics and Biomechatronics, pg. 112-121, Pisa, Italy, 2006.

DOI: 10.1109/biorob.2006.1639051

[5] Information on https: /www. iso. org/obp/ui/#iso: std: iso: 9283: ed-2: v1: en.

[6] Dumitru, V., Dumitru, S., Computer-aided Modeling for a Poly-Articulated Robotic Arm with Spherical Joints, Proceedings of Word Congress on Engineering, July 6 - 8 th 2011, London, United Kingdom, ISBN 978-988-19251-5-2, p.2106-(2011).

[7] Richard M. Murray, Zexiang Li, S. Shankar Sastry A Mathematical Introduction to Robotic Manipulation.