Design of miniature parallel manipulators for integration in a by HC120916155644

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

           For: Dr.Challoo
Outline

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

• The paper presents two design for a miniature robotic
  manipulator

• 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
  bar
Self propelling robotic endoscope
Miniature hydraulic manipulator

• This design uses the rigid part and is based on classic
    piston
•   The advantage is its high stiffness, kinematics and the
    possibility to have a tool channel running through the
    centre
•   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
                        used
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
  valve
• 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
Conclusion
• Two miniature Stewart platforms are under development
  for integration as a manipulator in a self-propelling
  endoscope.
• 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.
Reference
•   P. Dario, M.C. Carrozza, L. Lencioni, B. Magnani, S. D’Attanasio, A
•   micro-robotic system for colonoscopy, IEEE Int. Conf. Robotics and
•   Automation, AlbuquerqueNM., 1997, pp. 1567–1572.
•   w2x J. Peirs, D. Reynaerts, H. VanBrussel, Design of a shape memory
•   actuated endoscopic tip, Sens. Actuators, A 701998.135–140.
•   w3x J. Peirs, D. Reynaerts, H. Van Brussel, A micro-robotic arm for a
•   self-propelling colonoscope, Proc. of 6th Int. Conf. on New Actuators,
•   Bremen, Germany, 1998, pp. 576–579.
•   w4x K. Ikuta, M. Tsukamoto, S. Hirose, Shape memory alloy servo
•   actuator system with electric resistance feedback and application for
•   active endoscope, IEEE Int. Conf. Robotics and Automation,
•   PhiladelphiaPN., 1988, pp. 427–430.
Any ???

								
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