Technical Briefs

Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory

[+] Author and Article Information
Carl A. Nelson

Dept. of Mechanical and Materials Engineering,
University of Nebraska-Lincoln

Manuscript received March 15, 2013; final manuscript received April 25, 2013; published online June 12, 2013. Editor: Arthur G. Erdman.

J. Med. Devices 7(2), 020918 (Jun 12, 2013) (3 pages) Paper No: MED-13-1062; doi: 10.1115/1.4024329 History: Received March 15, 2013; Revised April 25, 2013

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Fig. 1

Coupling between yaw joint and grasp joint

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Fig. 2

A decoupled cable-driven grasper tip

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Fig. 3

Cables driving one jaw

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Fig. 4

Cable-pulley system equivalent to gear set (carrier removed for clarity)

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Fig. 5

Front view of design

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Fig. 6

Driving mechanism of gear 2 (carrier removed for clarity)

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Fig. 7

The mechanism giving ω1 = -ωH




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