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Modeling of a compliant joint in a Magnetic Levitation System for an endoscopic camera

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Academic year: 2020

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Figure

Figure 2. Schematic representation of the entire robotic endoscopewith the compliant MLS
Figure 3. (a) Schematic representation of compliant MLS opera-tion. In the equilibrium point (2) the magnetic force is negligible.(b) Force analysis and distribution considering the flexible joint likean isotropic homogeneous linear elastic beam and the hea
Figure 4. Flexible joint as a cantilever beam subjected to end pointload and moment.
Figure 5. Threedimensional model of the designed prototype. Thehead module embeds ring magnets, a motor with gears and a visionsystem; the tail module embeds only two magnets for the systemanchoring and external rough motion
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