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Development of a novel remote micromanipulation robot experimental system

  • 2013-09-20
  • 239.4KB
  • Points it Requires : 2

This paper proposes a novel design of a remote micro-manipulation robot experimental system for minimally invasive surgery. The system mainly includes single-degree-of-freedom master-slave manipulators, master-slave torque motors, and position and force sensors. The paper focuses on the mechanical, hardware circuit and software design of the developed remote micro-manipulation robot experimental system, and finally gives the experimental curves of the master and slave position and force ratio tracking. The experimental results show that the system works stably and is reasonably designed, which can well meet various experimental studies of remote micro-manipulation robot systems.

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