Statics analysis of an extensible continuum manipulator with large deflection

Gao, Guohua; Wang, Hao; Liu, Jingfang; Zheng, Yuhang

doi:10.1016/j.mechmachtheory.2019.07.015

Cited by 24 publications

(15 citation statements)

References 28 publications

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“…In this paper, we designed a contractible CM based on the contractible mechanical spring. Different from the related work in literature [20], we designed a CM which is actuated by the tendons whose bending stiffness can be neglected rather than the flexible rods used in [20]. More, the tendons continuously go through each turn of the spring rather than using separated links so that smaller curvature radius, bigger stiffness, and more smooth steering motion can be achieved, and the mechanical spring-based elastic skeleton enables the big hollow channel to transport like liquids, grippers, lasers, and cameras, etc.…”

Section: Introductionmentioning

confidence: 76%

“…(4) Mechanical spring-based tendon actuated CM. [19,20] Compared to the METABot, the repulsive force generated by the elastic potential energy of a compressed mechanical spring rather than that from the permanent magnets. Similar to the METABot, the mechanical spring-based tendon actuated CM eases the control complexities because it has better kinematics precision than pneumatic-driven CM and has a more agile workspace than the concentric tube CM.…”

Section: Introductionmentioning

confidence: 99%

“…More, the tendons continuously go through each turn of the spring rather than using separated links so that smaller curvature radius, bigger stiffness, and more smooth steering motion can be achieved, and the mechanical spring-based elastic skeleton enables the big hollow channel to transport like liquids, grippers, lasers, and cameras, etc. Also, our CM has 2 independent segments, causing better flexibility, more degrees of freedom, bigger workspace than that in [20]. The key contributions of this paper were listed as below:…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Novel design of a contractible, tubular continuum manipulator

Xing

Wang

Zhao

2020

Preprint

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Continuum manipulators have advantages in narrow space detections and operations than the rigid-body robots. In this paper, we novel designed a continuum manipulator with contractible/extensive abilities that give the manipulator more agile and flexible motion than those without these. The robotic system is composed of the continuum deforming body, driving tendons, and a mechanism. To enhance the displacement accuracy of the tendons and compact the package, the mechanism was designed as a controlled winding roller with rotation and translation motion. A prototype of the robotic system was made to evaluate the motion ability of the proposed design.

show abstract

Section: Introductionmentioning

confidence: 76%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Novel design of a contractible, tubular continuum manipulator

Xing

Wang

Zhao

2020

Preprint

View full text Add to dashboard Cite

show abstract

“…In this paper, we designed a contractible CM based on a contractible mechanical spring. Different from the related work in literature [20], we designed a CM which is actuated by the tendons whose bending stiffness can be neglected rather than the flexible rods used in work of [20]. More, the tendons continuously go through each turn of the spring rather than using separated links so that smaller curvature radius, bigger stiffness, and more smooth steering motion can be achieved, and the mechanical spring-based elastic skeleton enables the big hollow channel to transport like liquids, grippers, lasers, and cameras, etc.…”

Section: Introductionmentioning

confidence: 76%

“…4Mechanical spring-based tendon actuated CM. [18][19][20] Compared to the METABot, the repulsive force generated by the elastic potential energy of a compressed mechanical spring rather than that from the permanent magnets. Similar to the METABot, the mechanical spring-based tendon actuated CM eases the control complexities because it has better kinematics precision than pneumatic-driven CM and has a more agile workspace than the concentric tube CM.…”

Section: Introductionmentioning

confidence: 99%

A novel design of a contractible, tubular continuum manipulator

Xing

Wang

Zhao

2020

Preprint

View full text Add to dashboard Cite

Continuum manipulators have advantages in narrow space detections and operations than the rigid-body robots. In this paper, we novel designed a continuum manipulator with contractible/extensive abilities that give the manipulator bigger workspace, more agile and flexible motion than those without these. The robotic system is composed of the continuum deforming body, driving tendons, and a actuating mechanism. A prototype of the robotic system was made to evaluate the motion ability of the proposed design.

show abstract

Design and analysis of a continuum robot for transnasal skull base surgery

Wei

Zhang

et al. 2021

Robotics Computer Surgery

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Background:The traditional surgical instruments for transnasal endoscopic skull base surgery have poor flexibility and continuum robot has attracted extensive attention for its high dexterity and safety.Methods: A new type of micro continuum surgical robot is designed. On the basis of kinematic analysis, a superposition method is proposed to analyse the reachable configuration space of the system, and the workspace is analysed. The results obtained by superposition method can provide reference for the selection of joint parameters. At last, the static model of the system is established considering friction and coupling between two segments. Results:The simulation results show that the workspace can meet the requirements of surgery. And the validity of the static model is verified by numerical simulation and experiment, which lays a foundation for the establishment of the driving force transmission system and precise control of the robot. Conclusions:The research results of this study contribute to the real-time control and movement of robot. The proposed continuum robot provides convenient conditions for the clinical application.

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Statics analysis of an extensible continuum manipulator with large deflection

Cited by 24 publications

References 28 publications

Novel design of a contractible, tubular continuum manipulator

Novel design of a contractible, tubular continuum manipulator

A novel design of a contractible, tubular continuum manipulator

Design and analysis of a continuum robot for transnasal skull base surgery

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