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Tension management in cable transmission systems for remote manipulators.

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Title: Tension management in cable transmission systems for remote manipulators.
Authors: Awtar, Shorya1 (AUTHOR) awtar@umich.edu, Kim, Adam1 (AUTHOR), Thombre, Ashwin1 (AUTHOR)
Source: Precision Engineering. Nov2021, Vol. 72, p878-890. 13p.
Subjects: Cable structures, Minimally invasive procedures, Cables, Range of motion of joints
Abstract: This paper presents the design of a novel kinematic tensioning system to remedy the situation where the input-output relation in the cable transmission for a remotely operated multi-link end-effector is compromised due to the onset of slack. The actuation of multi-link end-effectors in remote manipulators via cable transmission exhibits loss of tension and slack generation on the non-driving side of the cable transmission. This paper outlines an analytical formulation of the kinematic component of slack resulting from the geometry of the end-effector links that are serially connected. If left unaddressed, cable slack adversely impacts transmission stiffness and produces backlash at the end-effector wherein for a fixed input, the output can move freely over a range of motion (i.e. dead-band). In case of articulating instruments for minimally invasive surgery, this limits the ability to position and orient the end-effector precisely, the ability to effectively transmit forces via the end-effectors to the surrounding tissues, and the tactile feedback to the user operating the instrument. To overcome these limitations, this paper presents a simple solution that effectively mitigates slack on the non-driving side of a cable transmission between a driving pulley and a multi-link end-effector with minimal cost or complexity. The proposed design uses a driving pulley modified with tensioner extensions to alter the transmission path, which provides a kinematic or geometric solution in contrast to the various spring based solutions that have several drawbacks. Based on a derivation of slack in the system, a design optimization is performed to generate the key dimensions of the tensioning system that minimizes slack without causing over-constraint. An experimental setup is designed and fabricated to validate the slack predictions in the cable transmission system for a multi-link end-effector, without and with the proposed tensioner. The experimental measurements demonstrate the efficacy of the proposed solution. • Novel Means to Remove Slack and Manage Tension in Cable Transmission. • Purely Mechanical, Low cost solution, without the need for springs, or actuators, or other components. • Theoretical Model. • Experimental Validation. [ABSTRACT FROM AUTHOR]
Copyright of Precision Engineering is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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Header DbId: egs
DbLabel: Engineering Source
An: 153708661
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PubType: Academic Journal
PubTypeId: academicJournal
PreciseRelevancyScore: 0
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  Label: Title
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  Data: Tension management in cable transmission systems for remote manipulators.
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  Data: <searchLink fieldCode="AR" term="%22Awtar%2C+Shorya%22">Awtar, Shorya</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> awtar@umich.edu</i><br /><searchLink fieldCode="AR" term="%22Kim%2C+Adam%22">Kim, Adam</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Thombre%2C+Ashwin%22">Thombre, Ashwin</searchLink><relatesTo>1</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Precision+Engineering%22">Precision Engineering</searchLink>. Nov2021, Vol. 72, p878-890. 13p.
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  Data: <searchLink fieldCode="DE" term="%22Cable+structures%22">Cable structures</searchLink><br /><searchLink fieldCode="DE" term="%22Minimally+invasive+procedures%22">Minimally invasive procedures</searchLink><br /><searchLink fieldCode="DE" term="%22Cables%22">Cables</searchLink><br /><searchLink fieldCode="DE" term="%22Range+of+motion+of+joints%22">Range of motion of joints</searchLink>
– Name: Abstract
  Label: Abstract
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  Data: This paper presents the design of a novel kinematic tensioning system to remedy the situation where the input-output relation in the cable transmission for a remotely operated multi-link end-effector is compromised due to the onset of slack. The actuation of multi-link end-effectors in remote manipulators via cable transmission exhibits loss of tension and slack generation on the non-driving side of the cable transmission. This paper outlines an analytical formulation of the kinematic component of slack resulting from the geometry of the end-effector links that are serially connected. If left unaddressed, cable slack adversely impacts transmission stiffness and produces backlash at the end-effector wherein for a fixed input, the output can move freely over a range of motion (i.e. dead-band). In case of articulating instruments for minimally invasive surgery, this limits the ability to position and orient the end-effector precisely, the ability to effectively transmit forces via the end-effectors to the surrounding tissues, and the tactile feedback to the user operating the instrument. To overcome these limitations, this paper presents a simple solution that effectively mitigates slack on the non-driving side of a cable transmission between a driving pulley and a multi-link end-effector with minimal cost or complexity. The proposed design uses a driving pulley modified with tensioner extensions to alter the transmission path, which provides a kinematic or geometric solution in contrast to the various spring based solutions that have several drawbacks. Based on a derivation of slack in the system, a design optimization is performed to generate the key dimensions of the tensioning system that minimizes slack without causing over-constraint. An experimental setup is designed and fabricated to validate the slack predictions in the cable transmission system for a multi-link end-effector, without and with the proposed tensioner. The experimental measurements demonstrate the efficacy of the proposed solution. • Novel Means to Remove Slack and Manage Tension in Cable Transmission. • Purely Mechanical, Low cost solution, without the need for springs, or actuators, or other components. • Theoretical Model. • Experimental Validation. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
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  Data: <i>Copyright of Precision Engineering is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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    Identifiers:
      – Type: doi
        Value: 10.1016/j.precisioneng.2021.04.010
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 13
        StartPage: 878
    Subjects:
      – SubjectFull: Cable structures
        Type: general
      – SubjectFull: Minimally invasive procedures
        Type: general
      – SubjectFull: Cables
        Type: general
      – SubjectFull: Range of motion of joints
        Type: general
    Titles:
      – TitleFull: Tension management in cable transmission systems for remote manipulators.
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            NameFull: Awtar, Shorya
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            NameFull: Kim, Adam
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            NameFull: Thombre, Ashwin
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          Dates:
            – D: 01
              M: 11
              Text: Nov2021
              Type: published
              Y: 2021
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              Value: 01416359
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              Value: 72
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            – TitleFull: Precision Engineering
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