Page 273 - Flexible Robotics in Medicine
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262 Chapter 11
Figure 11.16
XY plane shear stress versus deformation with load applied for one-piece design (up) and disk-wire
design (down), x-axis in mm and y-axis normalized in the software.
Figure 11.17
The relationship among deformation, number of disks, and the distance between disks.
11.5.2 Deformation-shear stress analysis
From the review of the former nonisolated designs, the twisting of the manipulator is one
of the factors that can be improved. The twist is from the shear stress of the manipulator.
In this section, the deformation stress relationship of the one-piece design is studied
