Quasi-Static Analysis on Transoral Surgical Tendon-Driven Articulated Robot Units

TL;DR

This paper presents a quasi-static analysis of a tendon-driven continuum robot unit, focusing on pressure, tension, and angle relationships to inform design and control strategies.

Contribution

It introduces a static equilibrium analysis method for tendon-driven continuum robots, incorporating pressure, friction, and weight effects to predict behavior.

Findings

Angle of rotation was 17.14 degrees under specified tensions.

Pressure was 405.6 Pa given the tensions of 1 N and 2 N.

Results aligned with initial design specifications.

Abstract

Wire actuation in tendon-driven continuum robots enables the transmission of force from a distance, but it is understood that tension control problems can arise when a pulley is used to actuate two cables in a push-pull mode. This paper analyzes the relationship between angle of rotation, pressure, as well as variables of a single continuum unit in a quasi-static equilibrium. The primary objective of the quasi-static analysis was to output pressure and the analysis, given the tensions applied. Static equilibrium condition was established, and the bisection method was carried out for the angle of rotation. The function for the bisection method considered pressure-induced forces, friction forces, and weight. {\theta} was 17.14{\deg}, and p was 405.6 Pa when Tl and Ts were given the values of 1 N and 2 N, respectively. The results seemed to be consistent with the preliminary design specification, calling for further simulations and experiments.