Page 325 - Flexible Robotics in Medicine
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Design evolution of a flexible robotic bending end-effector for transluminal explorations 315
Figure 13.30
Mechanical analysis of Prototype 5.0.
Figure 13.31
Mechanical analysis of Prototype 6.0.
The yield stress of Prototype 7.0 was determined to be 393.3 MPa (Fig. 13.32), which
is much higher than the acceptable stress we defined previously at 49.7 MPa.
Therefore Prototype 7.0 will not fail under stress delivered by the motor system of the
