Design of miniature parallel manipulators for integration in a self-propelling endoscope

This paper presents two designs for a miniature robotic manipulator that ha s to be integrated into a self-propelling endoscope. The endoscope is meant to inspect and intervene in the human colon through which it moves by inch worm locomotion. Both manipulator designs are based on a 3-degree-of-freedo m (dof) Stewart platform, either driven by hydraulic pistons or by electrom agnetic motors. The hydraulic manipulator is 12 mm in diameter and 30 mm lo ng. It has a stroke of 10 mm and tilts 30-35 degrees. The system is designe d to be used at pressures up to 10 bar at which each piston generates a for ce of 7 N. Piezoelectric and electromagnetic valves are developed that will be integrated into the manipulator. The electrical platform has three tele scopic legs driven by a motor-spindle combination. This manipulator has a l ength and diameter of respectively 50 and 15 mm, and generates speeds up to 5 mm/s and forces up to 1.2 N per leg. (C) 2000 Elsevier Science S.A. All rights reserved.