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
Copyright Status
Unknown
Socpus ID
84959251342 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/84959251342
STARS Citation
Blessing, Marshal and Walker, Ian D., "Novel Continuum Robots With Variable-Length Sections" (2004). Scopus Export 2000s. 5488.
https://stars.library.ucf.edu/scopus2000/5488