Page 221 - Flexible Robotics in Medicine

208 Chapter 8

Figure 8.14
Side, isometric, and top view of 4-DOF bending model. Tendons pass through the holes in each
section, one on each side.

Figure 8.15
Prototype platform with two stepper motors.

8.4.2 Prototyping

8.4.2.1 Driven platform

A platform with a lead screw is used for driving the drill, as shown in Fig. 8.15. A total of
two stepper motors are required. One motor is being used to drive the linear motion for the
extension of the drill, while the other smaller motor is used to rotate the drill.

Arduino and two motor drivers are being used to control the motor. The linear motor is
programmed to move 0.5 cm every 3 seconds. This is to ensure that the drill can drill
through before applying more contact force.

The rotational motor is programmed to rotate at 60 rpm. At this speed, vibration can be
kept low, and drilling is further possible