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Surgical robot systems for minimally invasive surgery (MIS), such as laparoscopic surgery, typically employ remote center of motion (RCM) mechanisms consisting of rigid links. Although the rigid body mechanisms have high reliability based on their stiffness, their large volume interferes the workspace of surgeons and the rigidity of pivot point requires precise positioning during the setup of robots...
In this paper, the trajectory control design of the pneumatic servo table considering the dynamics of pipelines and servo valve is proposed. The table is mainly composed by a pneumatic actuator, the high-performance pneumatic servo valve and pipelines. The pneumatic actuator utilizes a pneumatic cylinder with air bearings. This servo valve, with high dynamics up to 300Hz, is connected with the pneumatic...
Industrial measurements commonly use orifice flowmeters as a method of flowrate measurement. Aiming for the development of highly functionalized orifice flowmeter in future, the authors have developed the Measurement-integrated (MI) simulation for an orifice flow in a circular pipe. In a present paper, the MI simulation is applied for a flow field including an orifice with a beta ratio of 0.6 or 0...
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