Single Segment Controllable Continuum Robot: A Pilot Study
Proceeding of the WRC Symposium on Advanced Robotics and Automation, WRC SARA, ISSN: 2835-3358, Issue: 2024, Page: 76-81
2024
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Example: if you select the 1-year option for an article published in 2019 and a metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019. If you select the 3-year option for the same article published in 2019 and the metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019, 2018 and 2017.
Citation Benchmarking is provided by Scopus and SciVal and is different from the metrics context provided by PlumX Metrics.
Conference Paper Description
In existing continuum robots, not every segment within a section is controlled, limiting the full utilization of their flexibility and making navigation through narrow and continuously curved spaces challenging. This paper introduces a single-section controllable continuum robot where each segment can be independently controlled via driving wires. Firstly, we designe the structure and connection method of the continuum robot segments. Secondly, we establish the kinematic model of the single-section controllable continuum robot, enabling independent control of each segment through the driving wires. Finally, we compares and tests the fitting accuracy of different configurations of continuum robots with controllable parts containing 1, 3, 5, and 7 segments in one section, regarding their ability to fit the same curve. The single-section controllable continuum robot can independently control the position of each joint within the continuum, demonstrating superior curve fitting capability and enabling navigation through narrow, continuously curved spaces.
Bibliographic Details
Institute of Electrical and Electronics Engineers (IEEE)
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