Name
Abstract | ||
|---|---|---|
This paper proposes a stretch-retractable single-section (SRSS) continuum manipulator. Its backbone is composed by a series of springs. Thus, this continuum manipulator owns feature of a large-scale stretch-retractable ability. With such a feature, different from traditional single-section continuum manipulator which distal end moves in a curved surface, the presented manipulator's distal end has a solid work space. The kinematic model including the variable parameter of backbone length was established, and the stretch-retractable workspace was analyzed, with which the driving strategy was proposed. The prototype was made out based on the concept of the large-scale stretch-retractable backbone. The driving patterns with single parameter input and the driving patterns with multi parameter inputs were carried out. The tests verified the presented SRSS continuum manipulator. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1080/01691864.2018.1554507 | ADVANCED ROBOTICS |
Keywords | Field | DocType |
Stretch-retractable structure,continuum manipulator,kinematic,trajectory planning | Kinematics,Control theory,Workspace,Manipulator,Continuum (design consultancy),Engineering,Trajectory planning | Journal |
Volume | Issue | ISSN |
33.0 | 1 | 0169-1864 |
Citations | PageRank | References |
1 | 0.38 | 9 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Guohua Gao | 1 | 3 | 1.79 |
| Hao Wang | 2 | 440 | 127.79 |
| Jinwei Fan | 3 | 1 | 0.72 |
| QiXiao Xia | 4 | 1 | 0.72 |
| LianShi Li | 5 | 1 | 0.72 |
| Han Ren | 6 | 19 | 11.20 |