@inproceedings{7ec72d6d9d52496b88bb5a099b939480,
title = "Design of Cable-Driven Continuum Robots with Linkage Quaternion Joint",
abstract = "Cable-driven continuum robots hold significant application value in environments such as space maintenance and equipment monitoring. This paper presents a novel structural design for a continuum robot. The robot's joint section comprises two interlinked quaternion joints, while the control drive box is simplified to a design where a single motor drives two cables. This design not only reduces the number of motors used but also enhances the smoothness of the arm's curvature. The designed linkage quaternion joint underwent kinematic analysis and cable decoupling calculation analysis to ensure the robot's motion accuracy and control efficiency. Based on this design, experiments were performed with a ten-degree-of-freedom prototype robot, including tests for navigating narrow pipelines, handling loads, and assessing repeatability in positioning accuracy. The experimental results demonstrate that the robot exhibits reliability and precision in complex operational environments.",
keywords = "Cable-Driven, Continuum robot, Linkage Joint, Quaternion Joint",
author = "Yunzhi Huang and Yu Guo and Liang Han and Wenfu Xu",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; 1st International Conference on Advanced Robotics, Control, and Artificial Intelligence, ICARCAI 2024 ; Conference date: 09-12-2024 Through 12-12-2024",
year = "2025",
doi = "10.1007/978-981-96-5373-7\_57",
language = "英语",
isbn = "9789819653720",
series = "Lecture Notes in Networks and Systems",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "703--714",
editor = "Hai Wang",
booktitle = "Proceedings of the 1st International Conference on Advanced Robotics, Control, and Artificial Intelligence, ICARCAI 2024",
address = "德国",
}