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Workspace analysis of tendon-driven continuum robots based on mechanical interference identification

Cao, Kun; Kang, Rongjie; Branson, David; Geng, Shineng; Song, Zhibin; Dai, Jian S.

Authors

Kun Cao

Rongjie Kang

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DAVID BRANSON DAVID.BRANSON@NOTTINGHAM.AC.UK
Professor of Dynamics and Control

Shineng Geng

Zhibin Song

Jian S. Dai



Abstract

Continuum robots have excited increasing attention and efforts from the robotic community due to their high dexterity and safety. This paper proposes a design for a type of multimodule continuum robot equipped with an elastic backbone structure and tendon-driven actuation system. The kinematic model of the robot is formulated where the maximum bending angle of a module is obtained by identifying the interference between the backbone structure and the tendons. A superposition method is then used to determine the configuration space of the robotic module. Finally, an approximation method is presented to estimate the workspace of the tendon-driven continuum robot that reduces the computational complexity in comparison with the previously used scanning method. Experiments are provided to validate the proposed methods.

Citation

Cao, K., Kang, R., Branson, D., Geng, S., Song, Z., & Dai, J. S. (2017). Workspace analysis of tendon-driven continuum robots based on mechanical interference identification. Journal of Mechanical Design, 139(6), doi:10.1115/1.4036395

Journal Article Type Article
Acceptance Date Mar 16, 2016
Online Publication Date Apr 25, 2017
Publication Date Apr 25, 2017
Deposit Date Sep 12, 2018
Print ISSN 1050-0472
Publisher American Society of Mechanical Engineers
Peer Reviewed Peer Reviewed
Volume 139
Issue 6
Article Number 062303
DOI https://doi.org/10.1115/1.4036395
Public URL https://www.scopus.com/inward/record.uri?eid=2-s2.0-85018167272&doi=10.1115%2f1.4036395&partnerID=40&md5=d9135bff6942dc2aee268123fad421d0
Publisher URL http://mechanicaldesign.asmedigitalcollection.asme.org/article.aspx?articleid=2618333