Page 403 - Flexible Robotics in Medicine
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396 Chapter 17
of the motors to the linear motion of the sliding blocks. The antiback drive characteristic
of the screw allows the pose of the manipulator to keep in a stable state without a tremor.
The sliding blocks with springs provide a variable tension for the stiffness control of the
manipulator. The stiffness increases with the increase of the length of the spring. The other
blocks are used to control the other motion of the manipulator.
Figure 17.5
Setup of the experiment for stiffness.
Figure 17.6
Results of the stiffness test.
