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Design of a Spring Backbone Micro Endoscope

Title
Design of a Spring Backbone Micro Endoscope
Author
이병주
Issue Date
2007-10
Publisher
IEEE
Citation
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, Page. 1815-1821
Abstract
This work introduces a modified endoscope structure that employs a spring as its backbone. This design allows backdrivability of the mechanism due to the flexibility of the spring structure. Furthermore, the full 3 DOF motion including compression and two rotational motions can be realized. The geometric analysis, kinematic modeling, and actuator sizing for this device are conducted. Both simulation and experiment have been performed to show the effectiveness of this device.
URI
https://ieeexplore.ieee.org/document/4399541https://repository.hanyang.ac.kr/handle/20.500.11754/106989
ISBN
978-1-4244-0911-2
ISSN
2153-0858; 2153-0866
DOI
10.1109/IROS.2007.4399541
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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