Characterization of Friction within a Novel 3 mm Wristed Robotic Instrument
Abstract
:1. Introduction
1.1. Motivation and Significance
1.2. Literature Review
2. Materials and Methods
2.1. Experiment Setup
2.2. Data Collection and Processing
3. Results
4. Discussion
4.1. Significance of Friction
4.2. Comparing the 3 mm Tool with the 5 mm Tool
4.3. Limitations of Study
4.4. Significance of Cable Wear
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Parameter | Value |
---|---|
r | 1.35 mm |
l | 7.95 mm |
10.27 N | |
30.24 N |
Parameter | 3 mm | 5 mm |
---|---|---|
Payload (g) | 150 | 200 |
Cable diameter (mm) | 0.23 | 0.27 |
Max cable-tension increase (%) | 66.1 | 97.7 |
Links tested | 1.2 | 1 |
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Ho, C.; Looi, T.; Maguire, G.; Podolsky, D.J. Characterization of Friction within a Novel 3 mm Wristed Robotic Instrument. Actuators 2024, 13, 326. https://doi.org/10.3390/act13090326
Ho C, Looi T, Maguire G, Podolsky DJ. Characterization of Friction within a Novel 3 mm Wristed Robotic Instrument. Actuators. 2024; 13(9):326. https://doi.org/10.3390/act13090326
Chicago/Turabian StyleHo, Caitlin, Thomas Looi, Glenn Maguire, and Dale J. Podolsky. 2024. "Characterization of Friction within a Novel 3 mm Wristed Robotic Instrument" Actuators 13, no. 9: 326. https://doi.org/10.3390/act13090326