Design and Fabrication of a 3-D Printed Metallic Flexible Joint for Snake-Like Surgical Robot
Design and Fabrication of a 3-D Printed Metallic Flexible Joint for Snake-Like Surgical Robot
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DOI：
10.1109/lra.2019.2896475
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发表时间：
2019-04-01
影响因子：
5.2
通讯作者：
Yang, Guang-Zhong
中科院分区：
文献类型：
--
作者：
Hu, Yang;Zhang, Lin;Yang, Guang-Zhong
蛇形机器人在微创手术中有许多应用。蛇形机器人的一个重要研究课题是柔性关节机构及其驱动。这封信描述了一种新型柔性关节机构的设计和制造，该机构通过金属粉末床增材制造技术实现。建立了柔性关节的运动学和静力学模型，为柔性关节的设计和控制提供了理论依据。作为一种柔顺机构，柔性关节的疲劳特性进行了研究。有限元分析（FEA）的目的是优化设计过程。在实验部分，模型估计，有限元分析和实验验证进行了进一步了解的特点，柔性关节。一个例子的设计，可以生存后100 000全负载循环。最后，介绍了所提出的方法的不同设计变型和使用所提出的设计的多节柔性内窥镜。所提出的柔性关节不仅具有降低蛇形手术机器人的制造和组装成本的潜力，而且有利于开发更复杂的三维蛇形机器人结构，该结构具有用于嵌入式传感和致动的优化空间。
Snake-like robots have numerous applications in minimally invasive surgery. One important research topic of snake-like robots is the flexible joint mechanism and its actuation. This letter describes the design and fabrication of a new type of flexible joint mechanism that is enabled by metal powder bed additive manufacturing technique. Kinematics and static models of the flexible joint are presented, which can help in designing and controlling the flexible joint. As a compliant mechanism, the fatigue characteristics of the flexible joint is investigated. Finite element analysis (FEA) is performed aiming for optimizing the design process. In the experiment section, model estimation, FEA, and experimental validation are conducted for further understanding the characteristics of the flexible joint. An example design that can survive after 100 000 full loading cycles is demonstrated. Finally, different design variations of the proposed method and a multi-section flexible endoscope using the proposed design are introduced. The proposed flexible joint has the potential not only in reducing the cost of manufacturing and assembling a snake-like surgical robot, but also benefits for developing of more sophisticated three-dimensional snake robotic structure that has an optimized space for embedded sensing and actuation.