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Research Papers

Modeling of Viscoelastic Cable-Conduit Actuation for MRI Compatible Systems

[+] Author and Article Information
Varun Agrawal

e-mail: vagrawal@purdue.edu

Bin Yao

e-mail: byao@purdue.edu

William J. Peine

e-mail: peine@purdue.edu
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47907

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received June 4, 2012; final manuscript received March 6, 2013; published online May 23, 2013. Assoc. Editor: Won-jong Kim.

J. Dyn. Sys., Meas., Control 135(5), 051004 (May 23, 2013) (9 pages) Paper No: DS-12-1171; doi: 10.1115/1.4024079 History: Received June 04, 2012; Revised March 06, 2013

Cable transmission has significant advantages in the development of a surgical robot which is fully magnetic resonance imaging (MRI) compatible and can work dexterously in the very limited space inside MRI core. However, apart from the nonlinearities due to friction and cable compliance present in the traditional steel cables, the MRI compatible polymeric cables also suffer from the significant viscoelastic behavior. Previous work in cable-conduit actuation modeling only addresses the transmission in elastic cables and ignores complex direction and time dependent nonlinear viscoelastic behavior of cable-conduits. These effects need to be characterized for system design and nonlinearity compensation. In this paper, an analytical model using standard linear solid model and Coulomb friction is developed to study the transmission characteristics of such a system. The model has been validated by experiments using dyneema cables passing through PEEK conduits, predicting motion and torque transmission with error levels of 3.38% and 16.16%, respectively. The effect of cable viscoelasticity is studied utilizing the model, and corresponding results are compared with that of an elastic cable.

FIGURES IN THIS ARTICLE
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Copyright © 2013 by ASME
Topics: Cables
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References

Figures

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Fig. 1

Representation of standard linear solid model

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Fig. 2

Schematic of the experimental setup

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Fig. 3

Force balance diagram of cable element

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Fig. 4

Model for cable conduit actuation in pull-pull configuration

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Fig. 5

Experimental setup using MRI compatible cable-conduit system

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Fig. 6

Angular roation of the drive and the follower pulley

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Fig. 7

Experimental results for input motion shown in last figure, with pretension T0 = 3.1 N and half loop in conduit

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Fig. 8

Simulation results corresponding to the experimental results in Fig. 7

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Fig. 9

Comparison of experimental results and refitted simulation results using back-calculated cable parameters

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Fig. 10

Simulation results for elastic and viscoelastic cables

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Fig. 11

Torque transmission simulations for different relaxation times T

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Fig. 12

Torque transmission simulations for different E1/E2 ratios

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