Mathematical model of a multi-link surgical manipulator joint with an antiseptic coating

We present a synthesis of the mathematical model of a joint of a new generation multi-link surgical micromanipulator. A design of such a device involves finding solutions for several difficult problems which do not appear in classical 'large' robots.Aprototype in development has six links, and it is driven by brushless servomotors with planetary and worm gears, for which the total transmission ratio is above 10000:1. Most importantly, whole construction is covered by an antiseptic coating which substantially changes manipulator's dynamics. Because of the complicated form of the drive model with three-stage planetary gearings and coating interactions, control of such system is significantly different from control of a typical industrial robot. This paper presents a synthesis of the model of the joint, which can be used to design the control system. In this work the derived model is used to examine joint's properties and characteristics. Results are presented graphically and discussed.