题名 |
Kinematic Model and Workspace Analysis of Tendon-driven Continuum Robots |
DOI |
10.6567/IFToMM.14TH.WC.OS13.019 |
作者 |
Kun Cao;Rong-Jie Kang;Jun-Guo Wang;Zhi-Bin Song;Jian Dai |
关键词 |
Continuum robots ; Tendon-driven mechanisms ; Interference ; Workspace |
期刊名称 |
Proceedings of the 14th IFToMM World Congress |
卷期/出版年月 |
14th-2(2015 / 10 / 27) |
页次 |
640 - 644 |
内容语文 |
英文 |
英文摘要 |
Continuum robots have excited increasing attention and effort from robotic community due to their high dexterity and safety. This paper designs a continuum robot equipped with an elastic backbone structure and tendon-driven system. The kinematic model of such robot is formulated and a novel approach to analyze the workspace is developed by identifying the interference between the backbone structure and the actuated tendons. An optimization function is then used to achieve appropriate compromise between the workspace and the internal space of the robot, which provides an evaluation criterion for the robot design. |
主题分类 |
工程學 >
機械工程 |