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General information |
| Author |
He, Bin; Wang, Zhipeng; Li, Qiang; Xie, Hong; Shen, Runjie |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
Continuum robots have been the subject of
extensive research due to their potential use in a wide
range of applications. In this paper, we propose a new
continuum robot with three backbones, and provide a
unified analytic method for the kinematics and dynamics
of a multiple‐backbone continuum robot. The robot
achieves actuation by independently pulling three
backbones to carry out a bending motion of two‐degreesof‐
freedom (DoF). A three‐dimensional CAD model of the
robot is built and the kinematical equation is established
on the basis of the Euler‐Bernoulli beam. The dynamical
model of the continuum robot is constructed by using the
Lagrange method. The simulation and the experiment’s
validation results show the continuum robot can exactly
bend into pre‐set angles in the two‐dimensional space
(the maximum error is less than 5% of the robot length)
and can make a circular motion in three‐dimensional
space. The results demonstrate that the proposed analytic
method for the kinematics and dynamics of a continuum
robot is feasible. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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