Page 277 - Flexible Robotics in Medicine

266 Chapter 11

using the same material as other designs, there will be a need for a more significant force to
control it. However, the disadvantage of this design is the difficulty of manufacture.
Because of the nature of one piece, it is hard to scale down to a minimal size.

For the disk-tube design, it is following a similar mechanism as the one-piece design.
Comparing with the one-piece design, it is easier to manufacture and can be size down
because the manufacture of the small disk is not a problem, and there is no high
requirement for the material used for the disk. If the supporting backbone is flexible and
marks have been cut for the spring mechanism to follow, it can be easily assembled.
For the disk-wire design, the trajectory is slightly different from others because the bending
motion for the backbone is different. It can be used as an application when the distinctive
curve of the manipulator needed.

11.7 Conclusion and recommendation for the future study

In this chapter, the three different antagonistic tendon-driven manipulators are analyzed.
Analysis regarding the force needed to control the manipulator, and the resultant stress
inside the manipulator are made. Optimizations on the disk-wire designs are proposed. The
advantages and disadvantages of different designs are discussed. Suggestions for different
future applications can be made depending on the pros and cons of different designs. In the
future study, the material to be used in the manipulator can be studied.

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