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The design and control of an actively restrained passive mechatronic system for safety-critical applications

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thesis
posted on 09.08.2018 by Lucian M. Lacraru
Development of manipulators that interact closely with humans has been a focus of research in fields such as robot-assisted surgery and haptic interfaces for many years. Recent introduction of powered surgical-assistant devices into the operating theatre has meant that robot manipulators have been required to interact with both patients and surgeons. Most of these manipulators are modified industrial robots. However, the use of high-powered mechanisms in the operating theatre could compromise safety of the patient, surgeon, and operating room staff. As a solution to the safety problem, the use of actively restrained passive arms has been proposed. Clutches or brakes at each joint are used to restrict the motion of the end-effector to restrain it to a pre-defined region or path. However, these devices have only had limited success in following pre-defined paths under human guidance. In this research, three major limitations of existing passive devices actively restrained are addressed. [Continues.]

Funding

Loughborough University, Wolfson School of Mechanical and Manufacturing Engineering.

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Publisher

© Lucian Marian Lacraru

Publisher statement

This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/

Publication date

2005

Notes

A Doctoral Thesis. Submitted in partial fulfilment of the requirements for the award of Doctor of Philosophy at Loughborough University.

Language

en

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