Date of download: 11/13/2017 Copyright © ASME. All rights reserved. From: Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory J. Med. Devices. 2013;7(2):020918-020918-3. doi:10.1115/1.4024329 Figure Legend: Coupling between yaw joint and grasp joint
Date of download: 11/13/2017 Copyright © ASME. All rights reserved. From: Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory J. Med. Devices. 2013;7(2):020918-020918-3. doi:10.1115/1.4024329 Figure Legend: A decoupled cable-driven grasper tip
Date of download: 11/13/2017 Copyright © ASME. All rights reserved. From: Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory J. Med. Devices. 2013;7(2):020918-020918-3. doi:10.1115/1.4024329 Figure Legend: Cables driving one jaw
Date of download: 11/13/2017 Copyright © ASME. All rights reserved. From: Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory J. Med. Devices. 2013;7(2):020918-020918-3. doi:10.1115/1.4024329 Figure Legend: Cable-pulley system equivalent to gear set (carrier removed for clarity)
Date of download: 11/13/2017 Copyright © ASME. All rights reserved. From: Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory J. Med. Devices. 2013;7(2):020918-020918-3. doi:10.1115/1.4024329 Figure Legend: Front view of design
Date of download: 11/13/2017 Copyright © ASME. All rights reserved. From: Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory J. Med. Devices. 2013;7(2):020918-020918-3. doi:10.1115/1.4024329 Figure Legend: Driving mechanism of gear 2 (carrier removed for clarity)
Date of download: 11/13/2017 Copyright © ASME. All rights reserved. From: Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory J. Med. Devices. 2013;7(2):020918-020918-3. doi:10.1115/1.4024329 Figure Legend: The mechanism giving ω1 = -ωH