Abstract
Dynamic model based on screw theory and Lagrange’s equations including dynamic of servo motor rotor of a 3-DOF cable-driven surgical instrument was established in this paper. Overall dynamic of the 3-DOF cable-driven surgical instrument was performed by dynamic model of the open-loop chain surgical instrument after removal of cables and pulley, the mapping relationship model between the joint space and cable space, and rotor dynamic modeling of servo motor, which is the basic of investigating the overall responses and prosperities of surgical instrument.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
