A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms
Force–torque sensors are used in many and different domains (i.e., space, medicine, biology, etc.). Design solutions of force–torque sensors can be conceived by using many types of connections or components; however, there are only a few sensors designed using cable-driven systems. This could be rel...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-06-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/6/617 |
| _version_ | 1797593824345718784 |
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| author | Giovanni Gerardo Muscolo Paolo Fiorini |
| author_facet | Giovanni Gerardo Muscolo Paolo Fiorini |
| author_sort | Giovanni Gerardo Muscolo |
| collection | DOAJ |
| description | Force–torque sensors are used in many and different domains (i.e., space, medicine, biology, etc.). Design solutions of force–torque sensors can be conceived by using many types of connections or components; however, there are only a few sensors designed using cable-driven systems. This could be related to many reasons, one of which being that cables are able only to pull and not push. In this paper, a new cable-driven model for under-actuated force–torque sensing mechanisms is proposed, simulated, and tested, underlining the novelty of using cables for force–torque sensing. Analytical formulations, simulations, and physical implementations are presented in this paper. Results confirm that the new proposed model can be used for force–torque sensing mechanisms in micro- and macro- applications where under-actuation is a fundamental requirement, as in robotic surgery. The proposed model and mechanism can be used in the design of sensors and actuators. The innovative model is validated with two different test benches, opening new challenges in the design and development of under-actuated force–torque transducers. |
| first_indexed | 2024-03-11T02:13:56Z |
| format | Article |
| id | doaj.art-e60ff107afbb4d7faf38a7f38e072dbe |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-11T02:13:56Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-e60ff107afbb4d7faf38a7f38e072dbe2023-11-18T11:20:39ZengMDPI AGMachines2075-17022023-06-0111661710.3390/machines11060617A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive MechanismsGiovanni Gerardo Muscolo0Paolo Fiorini1Altair Robotics Laboratory, Department of Engineering for Innovation Medicine, Section of Engineering and Physics, University of Verona, Ca’ Vignal 2—Strada Le Grazie 15, 37134 Verona, ItalyAltair Robotics Laboratory, Department of Engineering for Innovation Medicine, Section of Engineering and Physics, University of Verona, Ca’ Vignal 2—Strada Le Grazie 15, 37134 Verona, ItalyForce–torque sensors are used in many and different domains (i.e., space, medicine, biology, etc.). Design solutions of force–torque sensors can be conceived by using many types of connections or components; however, there are only a few sensors designed using cable-driven systems. This could be related to many reasons, one of which being that cables are able only to pull and not push. In this paper, a new cable-driven model for under-actuated force–torque sensing mechanisms is proposed, simulated, and tested, underlining the novelty of using cables for force–torque sensing. Analytical formulations, simulations, and physical implementations are presented in this paper. Results confirm that the new proposed model can be used for force–torque sensing mechanisms in micro- and macro- applications where under-actuation is a fundamental requirement, as in robotic surgery. The proposed model and mechanism can be used in the design of sensors and actuators. The innovative model is validated with two different test benches, opening new challenges in the design and development of under-actuated force–torque transducers.https://www.mdpi.com/2075-1702/11/6/617cable mechanismscable-driven systemsforce–torque sensorsmicro-mechanismsminimally invasive robotic surgerysurgical robotics |
| spellingShingle | Giovanni Gerardo Muscolo Paolo Fiorini A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms Machines cable mechanisms cable-driven systems force–torque sensors micro-mechanisms minimally invasive robotic surgery surgical robotics |
| title | A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms |
| title_full | A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms |
| title_fullStr | A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms |
| title_full_unstemmed | A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms |
| title_short | A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms |
| title_sort | new cable driven model for under actuated force torque sensitive mechanisms |
| topic | cable mechanisms cable-driven systems force–torque sensors micro-mechanisms minimally invasive robotic surgery surgical robotics |
| url | https://www.mdpi.com/2075-1702/11/6/617 |
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