Joint
|
Cross-Section Shape
|
Length
|
Radius / Diameter
|
L1
|
Circle
|
0.75 m
|
0.05 m / 10 cm
|
L2
|
Circle
|
0.50 m
|
0.04 m / 8 cm
|
L4
|
Circle
|
0.40 m
|
0.025 m / 5 cm
|
D5
|
Circle
|
0.20 ≤ d5 ≤ 0.50 m
|
0.02 m / 4 cm
|
Why these specifications?
The two conditions for our assignment are given in SI units so I am trying to analyze our robots lengths and arm specifications accordingly. The liver is a sphere with a 10 cm diameter, and the robot needs to exert a force of 10 N to push through the liver.
The robot shouldn't be too big since our task is in a closed environment. The arms should increase in radius to account for increases in torques and forces as we analyze from the gripper to the first joint. Similarly the lengths should too. The biggest range of motion should happen in the first two joints (L1 & L2) so I gave them longer lengths. Precision is important in the last prismatic joint so it should be the shortest. I wrote a range for the prismatic since the gripper/needle would sit at a short distance away from the prismatic motor and move from there.
The professor said Nickel-Titanium is a good alloy for medical robotic applications. Since our robot arm is used as a tool for medical needles and isn't physically going to run inside of a person, we can consider a range of materials to use besides Ni-Ti.
What do you guys think?
No comments:
Post a Comment