Design and Kinematics of Cable-Driven Continuum Robot Arm with Universal Joint Backbone

被引：0
|
作者：
Yeshmukhametov, Azamat [1 ,2 ]
Koganezawa, Koichi [3 ]
Yamamoto, Yoshio [4 ]
机构：
[1] Tokai Univ, Grad Sch Adv Sci & Technol, 4-1-1 Kitakaname, Hiratsuka, Kanagawa 2591292, Japan
[2] Satpayev Univ, Satpayev Str 51, Alma Ata, Kazakhstan
[3] Tokai Univ, Dept Mech Engn, 4-1-1 Kitakaname, Hiratsuka, Kanagawa 2591292, Japan
[4] Tokai Univ, Dept Precis Engn, 4-1-1 Kitakaname, Hiratsuka, Kanagawa 2591292, Japan
来源：
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2018年
关键词：
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents cable-driven bio-inspired continuum robot with variable backbone hardness and with mounted compliant universal joints. Proposed continuum robot has nine segments and each one of which has two rotary joints. Kinetics, kinematics and design concerns are very challenging in continuum robots. So, in this research, we will present a novel approaches of kinetic, kinematic modeling and design solutions of the wire-driven universal joint backboned continuum robot. Moreover, experimental validation results will be presented as well.
引用
收藏
页码：2444 / 2449
页数：6
相关论文
共 50 条
  • [1] An Accuracy Enhancement Method for a Cable-Driven Continuum Robot With a Flexible Backbone
    Shen, Wenjun
    Yang, Guilin
    Zheng, Tianjiang
    Wang, Yi
    Yang, Kaisheng
    Fang, Zaojun
    [J]. IEEE ACCESS, 2020, 8 : 37474 - 37481
  • [2] Design and Kinematics of a Cable-driven Humanoid Ankle Joint
    Chen, Lumin
    Zhu, Zhizhong
    Lin, Qi
    Wang, Xinjie
    [J]. ENGINEERING AND MANUFACTURING TECHNOLOGIES, 2014, 541-542 : 846 - 851
  • [3] Kinematics and Statics Analysis of a Novel Cable-Driven Snake Arm Robot
    Xu, Dawei
    Li, En
    Liang, Zize
    [J]. 2017 CHINESE AUTOMATION CONGRESS (CAC), 2017, : 439 - 444
  • [4] Workspace Analysis of Cable-driven Continuum Manipulator using Universal Joint
    Kim, Myung-Oh
    Choi, Dongwoon
    Lee, Duck-Yeon
    Lee, Dong-Wook
    [J]. 2023 20TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS, UR, 2023, : 1003 - 1006
  • [5] Novel Design of a Cable-Driven Continuum Robot With Multiple Motion Patterns
    Zhang, Jie
    Kan, Ziyun
    Li, You
    Wu, Zhigang
    Wu, Jianing
    Peng, Haijun
    [J]. IEEE ROBOTICS AND AUTOMATION LETTERS, 2022, 7 (03) : 6163 - 6170
  • [6] A Modular Cable-Driven Surgical Robot with a Safe Joint Design
    Nelson, Carl A.
    [J]. MECHANISM DESIGN FOR ROBOTICS, 2019, 66 : 77 - 84
  • [7] Design of continuous backbone, cable-driven robots
    Li, CQ
    Rahn, CD
    [J]. JOURNAL OF MECHANICAL DESIGN, 2002, 124 (02) : 265 - 271
  • [8] Kinematic Analysis and Design Optimization of a Cable-Driven Universal Joint Module
    Lim, W. B.
    Yeo, S. H.
    Yang, G.
    Mustafa, S. K.
    [J]. 2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 2009, : 1922 - +
  • [9] Design Optimization of a Cable-Driven Two-DOF Joint Module with a Flexible Backbone
    Zhang, Zhao
    Yang, Guilin
    Yeo, Song Huat
    Lim, Wen Bin
    Mustafa, Shabbir Kurbanhusen
    [J]. 2010 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2010,
  • [10] Cable-driven parallel robot modelling considering pulley kinematics and cable elasticity
    Paty, Thibaut
    Binaud, Nicolas
    Caro, Stephane
    Segonds, Stephane
    [J]. MECHANISM AND MACHINE THEORY, 2021, 159
12345