Archives of Acoustics,
37, 4, pp. 475–482, 2012
The Joint Vibration Analysis of a Multi-Link Surgical Manipulator
This paper presents a vibration analysis of a multi-link surgical micromanipulator joint, based on
its detailed mathematical model. The manipulator’s prototype contains 6 links with the diameter of
8–10 [mm] and with the length of the modules of about 130 [mm]. It is driven by brushless servomotors
with worm and planetary gears, for which the total transmission ratio is above 1/10000. Regarding the
low efficiency of micro-robot drive systems and its vibrations, a reliable joint model and its performance is
crucial for the development of a high-precision control system. To achieve the required accuracy, modelling
framework has been enriched with an advanced model of friction. Simulation results are presented and
discussed.
its detailed mathematical model. The manipulator’s prototype contains 6 links with the diameter of
8–10 [mm] and with the length of the modules of about 130 [mm]. It is driven by brushless servomotors
with worm and planetary gears, for which the total transmission ratio is above 1/10000. Regarding the
low efficiency of micro-robot drive systems and its vibrations, a reliable joint model and its performance is
crucial for the development of a high-precision control system. To achieve the required accuracy, modelling
framework has been enriched with an advanced model of friction. Simulation results are presented and
discussed.
Keywords:
joint vibration; joint model; friction model; surgical manipulator
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