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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Design Considerations for a Hyper-Redundant Pulleyless Rolling Joint With Elastic Fixtures
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Design Considerations for a Hyper-Redundant Pulleyless Rolling Joint With Elastic Fixtures

机译：具有弹性夹具的超冗余无滑轮滚动接头的设计考虑因素

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摘要

Compliant joints composed of slit tubes or springs are commonly utilized for steerable endoscopes and catheters. Because this type of joint is actuated by means of its elasticity, it is difficult to bend it with a small radius of curvature. In order to overcome this problem, a hyper-redundant Pulleyless Rolling joint with Elastic Fixtures (PREF joint) is proposed. To enable miniaturization, the PREF joint does not have a pulley, and the rolling contact motion aids the actuation cables to maintain the tension. The elastic fixtures guarantee a stable rolling motion at the center of the rolling surfaces. In this paper, the fundamental characteristics for the unit and the hyper-redundant PREF joints are presented. Moreover, design considerations are proposed for the PREF joint including the rolling tooth shape, structure of the elastic fixtures, and cable actuation method. The validity of the design is verified using finite-element analysis and a 10 mm diameter prototype composed of 12 units of PREF joints for a 1 degree-of-freedom motion. As a result, the 55 mm long joint can be bent up to ±180° with low actuation tension. The presented guidelines will assist in the development of various steerable instruments for medical applications.
机译：由狭缝管或弹簧组成的顺应性接头通常用于可转向内窥镜和导管。由于这种类型的接头是通过其弹性来致动的，因此很难以较小的曲率半径弯曲它。为了克服这个问题，提出了一种带有弹性夹具的超冗余无滑轮滚动接头（PREF接头）。为了实现小型化，PREF接头没有皮带轮，并且滚动接触运动有助于驱动电缆保持张力。弹性固定装置可确保在滚动表面中心处的稳定滚动运动。本文介绍了单元和超冗余PREF接头的基本特征。此外，针对PREF接头提出了设计注意事项，包括滚动齿的形状，弹性夹具的结构以及电缆致动方法。使用有限元分析和直径为10 mm的原型（由12个PREF接头组成的1自由度运动）验证了设计的有效性。这样一来，长55毫米的接头可以以低的驱动张力弯曲到±180°。提出的指导方针将有助于开发用于医疗应用的各种可操纵器械。

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