Cable Driven Robots: Hysteretic Cable Stretch, Cable-Pulley Network Friction, Fatigue Life, and Kinematics of Two-Arm Multi Staged Flexible Manipulator

Abstract

Cable driven mechanisms face control challenges associated with hysteretic response of cable and dynamic friction from guide pulleys due to variable cable tension. In this thesis, a new dynamic models of cable driven mechanism, cable-pulley network friction and hysteretic stretch of longitudinally loaded cable, are developed in order to improve control accuracy and robustness. Moreover, fatigue life of cable is investigated and a prediction model is presented which can ensure safe operation of the robot. The specifications used for the experimental setups for the model development are based on the RAVEN II cable driven surgical robot and the model verification was performed using the same system. This thesis also presents the kinematics of the Roboscope, surgical robot for skullbase surgery and neurosurgery. The system has two-arm flexible cable driven manipulator which faces coupling effect. Detailed kinematics the system with the coupling effect is developed and analyzed.