Workspace Analysis of Cable-driven Continuum Manipulator using Universal Joint

被引：1

作者：

Kim, Myung-Oh ^{[1
]}

Choi, Dongwoon ^{[2
]}

Lee, Duck-Yeon ^{[2
]}

Lee, Dong-Wook ^{[2
]}

机构：

[1] Hanynag Univ, Dept Mech Engn, Seoul 04763, South Korea

[2] Korea Inst Ind Technol KITECH, Appl Robot R&D Dept, Ansan, South Korea

来源：

2023 20TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS, UR | 2023年

关键词：

D O I：

10.1109/UR57808.2023.10202328

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a comprehensive study on the workspace of a continuum manipulator using a universal joint. The research focuses on analyzing the effect of different parameters such as joint angles and flexible link lengths on the workspace of the manipulator. A mathematical model is developed to determine the workspace and validate the results through simulations. The study also includes a discussion on the limitations and challenges of using a universal joint in continuum manipulators and ways to overcome them. The findings of this research contribute to the understanding of the workspace of continuum manipulators and can be used to design more effective and efficient manipulator systems.

引用

页码：1003 / 1006

页数：4

共 9 条

[1] Design and Modeling of a Parallel Continuum Manipulator for Trunk Motion Rehabilitation [J].

Diaz-Caneja, Daniel ;

Campa, Francisco J. ;

Altuzarra, Oscar .

JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME, 2021, 15 (01)

[2]

Kai Xu, 2011, 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), P656, DOI 10.1109/ROBIO.2011.6181361

[3] Kinematic comparison of surgical tendon-driven manipulators and concentric tube manipulators [J].

Li, Zheng ;

Wu, Liao ;

Ren, Hongliang ;

Yu, Haoyong .

MECHANISM AND MACHINE THEORY, 2017, 107 :148-165

[4] A Variable Curvature Continuum Kinematics for Kinematic Control of the Bionic Handling Assistant [J].

Mahl, Tobias ;

Hildebrandt, Alexander ;

Sawodny, Oliver .

IEEE TRANSACTIONS ON ROBOTICS, 2014, 30 (04) :935-949

[5] Field trials and testing of the OctArm continuum manipulator [J].

McMahan, W. ;

Chitrakaran, V. ;

Csencsits, M. ;

Dawson, D. ;

Walker, I. D. ;

Jones, B. A. ;

Pritts, M. ;

Dienno, D. ;

Grissom, M. ;

Rahn, C. D. .

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, :2336-+

[6]

Rolf M, 2012, IEEE INT C INT ROBOT, P3440, DOI 10.1109/IROS.2012.6385596

[7] A steerable needle technology using curved concentric tubes [J].

Sears, Patrick ;

Dupont, Pierre .

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, :2850-+

[8] A dexterous system for laryngeal surgery [J].

Simaan, N ;

Taylor, R ;

Flint, P .

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, :351-357

[9] Spine-Inspired Continuum Soft Exoskeleton for Stoop Lifting Assistance [J].

Yang, Xiaolong ;

Huang, Tzu-Hao ;

Hu, Hang ;

Yu, Shuangyue ;

Zhang, Sainan ;

Zhou, Xianlian ;

Carriero, Alessandra ;

Yue, Guang ;

Su, Hao .

IEEE ROBOTICS AND AUTOMATION LETTERS, 2019, 4 (04) :4547-4554

← 1 →