Title

Novel Continuum Robots With Variable-Length Sections

Keywords

Intervals; Kinematics; Robotic manipulators

Abstract

In this paper, we examine the properties of tentacle-like continuum robots wherein the lengths of the bending segments can be adjusted. The ability to vary section lengths would allow continuum robots to assume a significantly wider range of configurations than in existing designs. expanding their potential range of applications. We introduce and analyze an appropriate kinematic continuum model for the case of variable section lengths. Based on this model, we present results from an interval-based analysis of the significance of variation of section lengths. The discussion is motivated and supported throughout by results from a novel hardware implementation.

Publication Date

1-1-2004

Publication Title

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volume

37

Issue

14

Number of Pages

55-60

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1016/S1474-6670(17)31080-7

Socpus ID

84959251342 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84959251342

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