Wire-Driven Manipulator Orientation Accuracy
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Solution Overview
Problem
Existing flexible endoscope structures face inaccuracies in orientation control due to errors in estimating the bent shape of the bendable portion, primarily caused by changes in the distance of wires from the neutral line during bending, leading to friction-related issues and orientation errors.
Innovation Solution
A wire-driven manipulator design featuring a bendable member with guiding and support members, where the projection distance between the linear member and the support member is greater than or equal to the distance from the neutral line, reducing friction and maintaining a constant distance to enhance orientation accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the wire-supporting member slides or moves relative to the bendable portion to reduce friction, then the wire wear is reduced and bending smoothness is improved, but the distance from the neutral line to the wire changes, causing orientation control errors
Solution Approach 1:
The patent introduces a guiding member as an intermediary component between the wire-supporting member and the bendable portion. This guiding member maintains a constant distance from the neutral line while allowing the wire-supporting member to slide, thus mediating between the need for friction reduction and the need for accurate orientation control
Solution Approach 2:
The patent separates the sliding motion (along the wire axis) from the radial position (distance from neutral line) by introducing a guiding structure. This allows the wire-supporting member to move freely in one dimension (sliding) while maintaining a fixed position in another dimension (radial distance), effectively decoupling the two requirements
2Measurement precision
If the distance from the neutral line to the wire is kept constant to improve orientation control accuracy, then orientation estimation error is reduced, but friction between the wire and wire-supporting member increases
Solution Approach 1:
The patent divides the wire-supporting member into multiple segments or sections, each with its own guiding member. This segmentation allows each section to independently manage the wire, reducing overall friction while maintaining constant radial positioning for accurate orientation control
Solution Approach 2:
The guiding member acts as an intermediary that reduces friction between the wire and wire-supporting member while maintaining a constant distance from the neutral line, thus resolving the contradiction between friction reduction and orientation accuracy
Data Source
AI summary
A linear-member-driven manipulator is provided that includes a bendable member that is bendable along a bending plane and includes a plurality of bendable portions; a linear member used to bend at least one of the bendable portions; a plurality of guiding members that guide the linear member that is driven; and a plurality of support members, each support member extending from one of the guiding members to the bendable member, wherein each guiding member is swingable with respect to the bendable member; and wherein, for each support member, a projection distance between the linear member and the support member on the bending plane is greater than or equal to a projection distance between the linear member and a bending neutral line of the bendable member on the bending plane.