A HYBRID GRIPPER AND ITS CLAMPING FORCE CONTROL FOR LONG-SEGMENT DEVICES IN ROBOTIC ENDOVASCULAR INTERVENTION SYSTEM

Kundong Wang∗,† Jianyun Liu,∗ Lu Li∗∗,† Shibo Xia,∗∗∗ and Qingsheng Lu∗∗∗

Keywords

Force feedback control, quick response, robotic endovascular intervention system, hybrid gripper

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.

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