Design of miniature parallel manipulators for integration in a by HC120916155644


									 Design of miniature parallel
manipulators for integration in a
  self-propelling endoscope
              Kiran .B

           For: Dr.Challoo

 Introduction
Miniature hydraulic manipulator
Valve integration
Electrical manipulator
Comparison of both manipulators

• The paper presents two design for a miniature robotic

• Both manipulator designs are based on Stewart platform

• These are either driven by hydraulic piston or
  electromagnetic motors

• The system is designed to be used at a pressure of 10
Self propelling robotic endoscope
Miniature hydraulic manipulator

• This design uses the rigid part and is based on classic
•   The advantage is its high stiffness, kinematics and the
    possibility to have a tool channel running through the
•   The design consists of a three hydraulic pistons
    connected through ball joints with an outer diameter of
    12mm and length of 30mm
Manipulator design
Exploded view of manipulator
          Valve integration
•   To keep the tail of endoscope flexible,   valves
          are introduced instead of tubes

•   Piezoelectric valve are used where steel ball is
Electromagnetic valve
• The construction of valve is based on electronic
  reluctance force
• The reluctance force tends to close the air gap and
  attracts the pin towards the upper plate, thus closing the
• The maximum force is obtained when the valve is closed

• valve has a length of 12 mm without the needle support,
  and fits into a cylindrical hole of 3.5 mm diameter
Electromagnetic valve design
Flow characteristic of the electromagnetic valve
Electrical manipulator

• Due to the need of hydraulic tubes electrical Stewart
  platform is developed

• The platform has three telescopic legs, each driven by a
  combination of an electromagnetic micro motor and a
  micro spindle

• The spindle has a pitch of 0.25 mm, what brings
  the maximum translational speed to 5 mmrs
The electric leg prototype in shortest and longest states
comparison of both manipulators
• Two miniature Stewart platforms are under development
  for integration as a manipulator in a self-propelling
• The first one is a hydraulic system based on
  three parallel pistons.

• The second manipulator is based on telescopic legs
  driven by a motor-spindle combination.
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Any ???

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