Abstract
Few interface systems designed to control continuum robots have been developed. This work presents a master device for multi-unit continuum robots. The master mechanism has the same kinematic structure as the slave device. The kinematic structure, which uses a spring as a backbone, allows for a unique forward kinematic solution. This design is slim-sized, light-weight, and easy to implement. As an example mechanism, a continuum unit with two degrees of freedom was developed. Two-unit modules were assembled to generate four degrees of freedom. The performance of the master device is verified through a master-slave control experiment.
| Original language | English |
|---|---|
| Pages (from-to) | 1921-1931 |
| Number of pages | 11 |
| Journal | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science |
| Volume | 231 |
| Issue number | 10 |
| DOIs | |
| State | Published - 1 May 2017 |
Bibliographical note
Publisher Copyright:© Institution of Mechanical Engineers.
Keywords
- Master device
- continuum
- forward kinematics
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