Design of a modular force feedback device for minimally invasive surgical simulators
Loading...
Authors
Brino, Cecilia
Issue Date
2014-12
Type
Electronic thesis
Thesis
Thesis
Language
ENG
Keywords
Mechanical engineering
Alternative Title
Abstract
Experiments were conducted to characterize the system parameters including its force output, impulse response, static friction, frequency response, and impedance bandwidth along the three active DOFs. Static friction measurements were 1.5 Nmm, and 25.7 Nmm for each of the two rotational DOF, and 1.94N for the insertion/retraction DOF. Impedance frequency response bandwidths were 19 Hz and 13 Hz for the rotational DOFs, and 2.2 Hz for the insertion/retraction DOF. Due to controller current saturation limits, the maximum torque capabilities of the DC motors were not achieved and the device force capabilities were less than the design specifications; however they could easily be increased using custom controllers. The bandwidth along the Z-axis was also very low and should be improved by redesigning actuation in that DOF.
Description
December 2014
School of Engineering
School of Engineering
Full Citation
Publisher
Rensselaer Polytechnic Institute, Troy, NY