Design of a master device for controlling multi-moduled continuum robots

被引：11

作者：

Yoon, Hyun-Soo ^{[1
]}

Yi, Byung-Ju ^{[2
]}

机构：

[1] Hanyang Univ, Dept Elect Elect Control & Instrumentat Engn, Seoul, South Korea

[2] Hanyang Univ, Dept Elect Syst Engn, Seoul, South Korea

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2017年 / 231卷 / 10期

基金：

新加坡国家研究基金会;

关键词：

Master device; continuum; forward kinematics; MANIPULATOR; KINEMATICS; MECHANICS; SYSTEM; FORCE; DEEP;

D O I：

10.1177/0954406215625359

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

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.

引用

页码：1921 / 1931

页数：11

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