Page 450 - Flexible Robotics in Medicine
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444 Chapter 19
Figure 19.25
Measurement of (left) drill tip vibration and (right) drill tip force.
Figure 19.26
Force fluctuations in X direction and Y direction.
during the drilling process, thereby verifying that the locking mechanism is strong enough
to serve its function without breaking away.
19.6.2.2 Drill tip force
The objective of this test is to estimate the force payload on the Goldrill GR3 bending
segment. This test was conducted by placing two pieces of polyvinyl chloride (PVC) test
