Research on the linear driving characteristics of endoscopic continuous robot

Abstract

Abstract Due to the way line drive, the continuous endoscope robot will have a certain lag in the process of movement, which will affect the accuracy and flexibility of the operation. In addition, the hysteresis and return difference caused by wire rope transmission will also increase the hysteresis effect of continuous robots. In this paper, the motion characteristics of the continuous endoscopic robot are analyzed, the hysteresis of the robot is modeled theoretically based on the Preisach model, and the effectiveness of the model is verified. Preisach hysteretic nonlinear hyperbola model predicts the bending changes under different positive and negative drives. The experimental results show that the maximum error between the model and the theoretical prediction is 3.18 degrees. The hysteresis model can predict the hysteresis characteristics of the continuous endoscope robot well.