新型线驱动式微创手术器械结构设计与运动学分析

赵万博,陈赛旋,姜官武,李荣,章宇

Structural design and kinematics analysis of new cable-driven minimally invasive surgical instrument

Wanbo ZHAO,Saixuan CHEN,Guanwu JIANG,Rong LI,Yu ZHANG

图4 偏摆关节驱动绳排布示意

Fig.4 Arrangement schematic of driven cable for yaw joint