Design, modeling and performance evaluation of a long and slim continuum robotic cable
Design, modeling and performance evaluation of a long and slim continuum robotic cable
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细长连续机器人电缆的设计、建模和性能评估
DOI：
10.1109/iros.2014.6942954
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
I. Walker
中科院分区：
文献类型：
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作者：
Manas M. Tonapi;I. Godage;I. Walker
在本文中，我们提出了一种新的设计，用于构建多节连续体机器人，特别关注薄（直径小于1厘米）和相对较长的长度（超过100厘米），沿着其新的运动学建模和性能评估。这种弹簧加载、肌腱驱动的电缆状连续体机器人采用了同心管式设计的关键特征，对大多数部分增加了局部压缩，并沿其整个骨干沿着主动可控弯曲。它还避免了复杂和大型的致动器系统。这种机器人电缆可以很好地适用于当前的空间和陆地应用，如勘探、远程操作、监视、维护活动等，受益于这些独特的结构特性。
In this paper, we present a novel design for constructing multi-section continuum robots with a special focus on thin (less than 1 cm diameter) and relatively longer length (more than 100 cm), along with its new kinematic modeling and performance evaluation. This spring-loaded, tendon-actuated cable-like continuum robot incorporates key features of a concentric tube style design with added local compression to most sections and actively controllable bending along its entire backbone. It also avoids a complicated and large actuator system. Such robotic cables can be well suited for current space and terrestrial applications like exploration, teleoperation, surveillance, maintenance activities, etc., benefiting from these unique structural properties.