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  • SAGE Publications  (2)
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  • SAGE Publications  (2)
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  • 1
    Online Resource
    Online Resource
    Design and modeling of a novel robotic arm with multiple-segment joints
    SAGE Publications ; 2019
    In:  Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science Vol. 233, No. 11 ( 2019-06), p. 3827-3836
    Details
    In: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, SAGE Publications, Vol. 233, No. 11 ( 2019-06), p. 3827-3836
    Abstract: This paper presents a novel miniature robotic arm with four degrees of freedom and one end-effector. The two joints of the robotic arm are multiple-segment, which consist of several serial plates with tiny cavities. Kinematic modeling of the robotic arm has been completed for subsequent implementation. With multiple-segment joints, the robotic arm gets smooth, linear, and flexible property. Simulations and experiments show that the robot can be used in abdominal single-port minimally invasive surgery for its unique operation capability.
    Type of Medium: Online Resource
    ISSN: 0954-4062 , 2041-2983
    URL: Article
    DOI: 10.1177/0954406218810304
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2019
    detail.hit.zdb_id: 2024890-8
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    Online Resource
  • 2
    Online Resource
    Online Resource
    Design of a Robot End-Effector Grabbing Mechanism Based on a Bionic Snake Mouth
    SAGE Publications ; 2013
    In:  International Journal of Advanced Robotic Systems Vol. 10, No. 3 ( 2013-03-01), p. 174-
    Details
    In: International Journal of Advanced Robotic Systems, SAGE Publications, Vol. 10, No. 3 ( 2013-03-01), p. 174-
    Abstract: Inspired by the bite and swallowing function of a snake's mouth, a robot end-effector grabbing mechanism was designed. The grabbing movement is realized by the ‘bite’ function of the bionic snake mouth actuator, and the ‘swallowing’ function insures a continuous grip on the object. To implement the continuous grip function of the new robot end-effector, the complex motion of a snake's mouth is simplified into three basic movements based on the anatomy of a snake's mouth and with a combination of bionics and engineering. The upper jaw consists of a double four-bar linkage mechanism and the lower jaw mechanism implementing a lateral expansion function are the two elements of the robot end-effector. The relationship model and the corresponding curves of the actuating force and gripping force are necessary to implement an open-loop control of the robot end-effector. Through analysis and simulation, linkage parameters are determined to implement the desired motion.
    Type of Medium: Online Resource
    ISSN: 1729-8814 , 1729-8814
    URL: Article
    DOI: 10.5772/54562
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2013
    detail.hit.zdb_id: 2202393-8
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