Page 276 - Flexible Robotics in Medicine
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Comparative mechanical analysis for flexible bending manipulators 265
Figure 11.21
X-axis displacement versus force.
A prototype of a disk-tube design has been made using metal disks and polyethylene.
Experiment on the relationship of the force and X-axis displacement has been conducted
(Fig. 11.20).
As we can see from the experimental result in Fig. 11.21, the X-axis displacement and force
applied is linearly related to each other. Comparing the results from Ansys workbench
simulation, we can conclude that the Ansys workbench simulation is testified.
As shown from the results, we can tell that different designs have their own advantages and
disadvantages. For the one-piece design, the overall performance is excellent. The trajectory
follows the model in Section 11.2. The force and stress depend on the material used. While
