TY - GEN
T1 - Design and Analysis of a Multi-Section Wire-driven Continuum Robot System with Variable Structures
AU - Liu, Yujie
AU - Wan, Yue
AU - Song, Shuang
AU - Wang, Jiaole
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - In recent years, researches with bionic robots have been well produced and developed thanks to the emergence of bionics. It showed great potential and prospect in the field of surgical robot. In this paper we proposed a novel design and analysis of a multi-section wire-driven continuum robot with variable structures. In the proposed design, distances between adjacent joints are variable with different sections. By changing the structure parameters of the joints, control accuracy of the tip end can be improved while ensuring the moving range of the robot. Kinematics model with both forward and inverse have been deducted. Workspace of the robot tip has been analyzed. Prototype has been built and tested with experiments, and results proved the accuracy of the robot.
AB - In recent years, researches with bionic robots have been well produced and developed thanks to the emergence of bionics. It showed great potential and prospect in the field of surgical robot. In this paper we proposed a novel design and analysis of a multi-section wire-driven continuum robot with variable structures. In the proposed design, distances between adjacent joints are variable with different sections. By changing the structure parameters of the joints, control accuracy of the tip end can be improved while ensuring the moving range of the robot. Kinematics model with both forward and inverse have been deducted. Workspace of the robot tip has been analyzed. Prototype has been built and tested with experiments, and results proved the accuracy of the robot.
KW - kinematics model
KW - multi-section continuum robot
KW - wire-driven flexible robot
UR - https://www.scopus.com/pages/publications/85128165814
U2 - 10.1109/ROBIO54168.2021.9739387
DO - 10.1109/ROBIO54168.2021.9739387
M3 - 会议稿件
AN - SCOPUS:85128165814
T3 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
SP - 392
EP - 397
BT - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Y2 - 27 December 2021 through 31 December 2021
ER -