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Design and implementation of a modular, customizable and multi-modality compatible actuator with position feedback

Rossides, Charalambos (2016) Design and implementation of a modular, customizable and multi-modality compatible actuator with position feedback.

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Abstract:During this project, a multi-modality compatible (MRI & CT) actuator is designed and prototyped. Possible applications include the actuation of robotic/tele-manipulated systems for minimally invasive image guided interventions (e.g. an MRI compatible system for steering a rigid needle for lung cancer biopsy). In a MR environment, this pneumatic stepper motor is powered by compressed air travelling through a long hose of at least 5m. Thus a pneumatic tube model is derived in order to relate the output pressure with the diameter, the length and the input pressure of plastic pneumatic tubes. The competence of the model is evaluated by experimentation. The dynamics imposed by this model may be decoupled from the actuator using a pneumatically actuated pneumatic valve, acting as a relay, which was also designed and prototyped during this project. Along with the actuator and the valve, a multi-modality compatible fibre-optic position sensor is designed and prototyped as a module to be attached on the actuator. Indirect, code based CAD design methods have been put into practice. The designer of such a system to defines the desired performance parameters and the CAD models are produced in an automated way.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:52 mechanical engineering
Programme:Systems and Control MSc (60359)
Link to this item:http://purl.utwente.nl/essays/71279
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