Development of Forceps Manipulator Using Pneumatic Soft Actuator for a Bending Joint of Forceps Tip
Development of Forceps Manipulator Using Pneumatic Soft Actuator for a Bending Joint of Forceps Tip
复制标题
镊尖弯曲接头气动软执行器镊子机械手的研制
DOI：
10.1109/sii.2019.8700373
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
K. Kawashima
中科院分区：
文献类型：
--
作者：
Rei Hisatomi;T. Kanno;Tetsuro Miyazaki;Toshihiro Kawase;K. Kawashima
研制了一种以气动软驱动器为钳尖弯曲关节的钳式机械手。许多钳式操作器由线驱动，然而存在诸如线与部件之间的摩擦和线之间的干涉的问题。因此，该问题通过使用软致动器来解决，该软致动器通过空气压力而不是金属丝驱动来执行两个自由度关节的弯曲。软致动器由硅橡胶制成，并由两个金属弹簧加强。用金属弹簧制作软致动器是很容易的。外弹簧约束软致动器的径向膨胀，内弹簧放置在软致动器的中心以增强弯曲刚度。致动器具有四个腔室，并且可以通过将空气输入到每个腔室中来使软致动器弯曲。空气夹持器安装在软致动器的尖端上。通过腔室中的压力估计镊子的弯曲角度。该手术钳全长340 mm，重量23 g，最大弯曲角度53 °。通过使用用于弯曲关节本身的软致动器，实现了在后端没有驱动单元的简单且重量轻的镊子机械手。
In this paper, a forceps manipulator using a pneumatic soft actuator for a flexion joint of forceps tip is developed. Many forceps manipulators are driven by wires, however there are problems such as friction between wires and parts and interference between wires. Therefore, this problem is solved by using the soft actuator, which performs bending of two degrees of freedom joint driven by air pressure instead of wires. The soft actuator is made of a silicone rubber and reinforced by two metal springs. It is easy to fabricate the soft actuator by using a metal spring. The outer spring restrains the radial expansion of the soft actuator, and the inner spring is placed in the center of the soft actuator to reinforce the bending stiffness. The actuator has four chambers, and it is possible to bend the soft actuator by inputting air into each chamber. An air gripper is mounted on the tip of the soft actuator. The bending angle of the forceps is estimated by the pressure in the chambers. The total length of the developed forceps is 340 mm, the weight is 23 g, and the maximum bending angle is 53 deg. By using the soft actuator for the bending joint itself, a simple and lightweight forceps manipulator with no driving unit at the rear end is realized.
影响因子：
2
作者：
Tadano, Kotaro;Kawashima, Kenji
通讯作者：
Kawashima, Kenji