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

页码：2444 / 2449

页数：6

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