Paper Info
Title
A HYBRID GRIPPER AND ITS CLAMPING FORCE CONTROL FOR LONG-SEGMENT DEVICES IN ROBOTIC ENDOVASCULAR INTERVENTION SYSTEM
Abstract
Robotic Endovascular Intervention System (REIS) needs to operate long-segment devices with numerous specifications. A gripper as an end effector must provide a moderate clamping force with adaptability to these devices. Additionally, clamping should be elastic and controllable to avoid damage to devices. In this paper, a special comb-like hybrid gripper with V shape of clamping surface is designed to enhance adaptability, and some elastic membrane and washer are used to add clamping elasticity for the safety of the devices. A clamping force control model of the gripper is built to control moderate clamping force to avoid the over clamp and under clamp. Through some tests, the model parameters are identified. Finally, clamping performances including maximum anti-slipping force, delay time, and errors are evaluated by experiments. It is found that the gripper can provide enough push-pull force with high adaptability and quick response, and clamping force can be controlled in a large range.
Year
DOI
Venue
2022
10.2316/J.2022.206-0417
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
Keywords
DocType
Volume
Force feedback control, quick response, robotic endovascular intervention system, hybrid gripper
Journal
37
Issue
ISSN
Citations 
2
0826-8185
0
PageRank 
References 
Authors
0.34
0
5
Name
Order
Citations
PageRank
Kundong Wang100.34
Jianyun Liu200.68
L. Li378.13
Shibo Xia400.34
Qingsheng Lu500.34