Technical Brief

A Cable-Driven Grasper With Decoupled Motion and Forces1

[+] Author and Article Information
Baoliang Zhao, Carl A. Nelson

Department of Mechanical and Materials Engineering,
University of Nebraska–Lincoln,
Lincoln, NE 68508

Accepted and presented at the Design of Medical Devices Conference (DMD2014), Minneapolis, MN, April 7–10, 2014.DOI: 10.1115/1.4027043

Manuscript received February 21, 2014; final manuscript received March 3, 2014; published online July 21, 2014. Editor: Arthur G. Erdman.

J. Med. Devices 8(3), 030922 (Jul 21, 2014) (2 pages) Paper No: MED-14-1073; doi: 10.1115/1.4027043 History: Received February 21, 2014; Revised March 03, 2014

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Fig. 1

Force sensor on jaws [1]

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Fig. 2

Force sensor on shaft [4]

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Fig. 6

Clamp force measurement

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Fig. 7

Strain gage attached on cable

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Fig. 8

Protractor measurement of yaw angle

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Fig. 9

Motion comparison between prototype and CAD model

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Fig. 10

Linear relation between cable tension and clamp force

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Fig. 11

Decoupling force between grasp and yaw motions



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