Open document
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General information |
| Author |
Li, Zheng; Du, Ruxu |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
This paper presents a bio‐inspired wire‐driven
multi‐section flexible robot. It is inspired by the snake
skeleton and octopus arm muscle arrangements. The
robot consists of three sections and each section is made
up of several identical vertebras, which are articulated by
both spherical joints and a flexible backbone. Each section
is driven by two groups of wires, controlling the bending
motion in X and Y directions. This design integrates the
serpentine robots’ structure and the continuum robots’
actuation. As a result, it is more compact than traditional
serpentine robots and has a higher positioning accuracy
than typical continuum soft robots, such as OctArm V. A
Kinematics model and a workspace model of the robot
are developed based on the piece wise constant curvature
assumption. To evaluate the design, a prototype is built
and experiments are carried out. The average distal end
positioning error is less than 4%. Characteristics of the
wire‐driven robot are also discussed, including the
leverage effect and the manipulability under constraint.
These features makes the proposed robot well suited to
confined spaces, especially for working in minimally
invasive surgery, nuclear reactor pipelines, disaster
debris. |
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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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