Home Journals Articles Updates About
CN
image
收藏切换
Modeling and Force Estimation of Multi DOFs Rope-driven Micromanipulation Wrist Gripper
收藏切换
PDF
Han REN1, Gui-bin BIAN2, Qiang YE2, Rui-chen MA2, Zhen LI2, Xiang-hui ZHANG1, *
Science Technology and Engineering | 2025, 25(7) : 2825 - 2831
Less
收藏切换
Science Technology and Engineering | 2025, 25(7): 2825-2831
• Papers·Automation and Computational Technology •
Modeling and Force Estimation of Multi DOFs Rope-driven Micromanipulation Wrist Gripper
Full
Han REN1, Gui-bin BIAN2, Qiang YE2, Rui-chen MA2, Zhen LI2, Xiang-hui ZHANG1, *
Affiliations
  • 1 School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100114, China
  • 2 State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing 100090, China
Published: 2025-03-08 doi: 10.12404/j.issn.1671-1815.2402063
Outline
收藏切换

Neurosurgical procedures like cerebral vascular bypass, brain tissue dissection, and neurorrhaphy often lack microsurgical instruments with delicate force perception. To enhance manual precision and tactile force perception during surgery, a novel multi DOFs rope-driven micromanipulation wrist gripper designed was introduced for surgical robots. This wrist gripper was powered by a screw drive controlling six ropes, facilitating dexterous movements at the distal end of miniature instruments. The high gear reduction ratio of the screw drive enhances driving precision, thereby achieving high operational accuracy and stability of the distal wrist gripper. Moreover, a force sensor was integrated between the ropes’ rear end and the screw drive to monitor the tension in the ropes in real time. Based on the tension in the ropes, a computational model for estimating the contact force at the distal end of the wrist gripper was proposed, enabling the perception of external contact forces. Experimental results show that under open-loop control, the average motion tracking error of the wrist gripper is less than 1°, and the maximum mean value of force estimation error is 53.85 mN.

microsurgery  /  rope-driven  /  wrist gripper  /  dynamics
Han REN, Gui-bin BIAN, Qiang YE, Rui-chen MA, Zhen LI, Xiang-hui ZHANG. Modeling and Force Estimation of Multi DOFs Rope-driven Micromanipulation Wrist Gripper[J]. Science Technology and Engineering, 2025 , 25 (7) : 2825 -2831 . DOI: 10.12404/j.issn.1671-1815.2402063
Appendix
Less
Year 2025 volume 25 Issue 7
PDF
102
46
Cite this Article
BibTeX
Article Info
doi: 10.12404/j.issn.1671-1815.2402063
  • Receive Date：2024-03-22
  • Online Date：2026-03-30
  • Published：2025-03-08
Article Data
Affiliations
History
  • Received：2024-03-22
  • Revised：2024-05-08
Funding
Affiliations
    1 School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100114, China
    2 State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing 100090, China
References
Share
https://castjournals.cast.org.cn/joweb/kxjsygc/EN/10.12404/j.issn.1671-1815.2402063
Share to
QR

Scan QR to access full text

Cite this article
BibTeX
Citations
表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
关闭全屏
  • BibTeX
  • EndNote
  • RefWorks
  • TxT
Links
Articles
Latest Articles
Most Read
Collections
Updates
Events
News
Multimedia
About
About Us
Contact
No. 86 Xueyuan South Road, Haidian District, Beijing
100081
010-62199257
qkjq@cast.org.cn

Copyright © 2025 China Association for Science and Technology. All rights reserved. For all open access content, the relevant licensing terms apply.
Sponsored by the Office of the Leading Group for Cybersecurity and Informatization of CAST, and supported by Science and Technology Review Publishing House