Abstract
Operation intuitiveness and force feedback are two main problems of MIS robots. In order to solve these problems, a new type of robot-assisted MIS system has been proposed. Focusing on the cable-driven MIS robot, which is a core component of the system, the following steps in developing the underlying theory have been conducted. Firstly, the driving cable layout, motion mapping and symmetrical decoupling structures of all types of MIS robot joints are analysed. Secondly, the mathematical formulation of the cable-driven layout of each joint based on the crossing number is derived. Finally, as an example of a cable-driven MIS robot, the kinematics analysis of the symmetrical spatial intersecting joints is developed based on D-H method and the crossing number. The results show that the cable driven symmetrical intersecting joints could improve the operation intuitiveness and realise direct force feedback.
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