This paper derives a mechanics-based model for this hybrid design and assesses it using numerical and physical experiments involving a pair of tendon-actuated ...
May 25, 2023 · In this paper, we have introduced a mechanics-based statics model for telescoping tendon-actuated continuum tube robots. Similar to the twisting ...
Modeling Tendon-actuated Concentric Tube Robots. Abstract: Mechanics-based models have been developed to describe the shape of tendon-actuated continuum robots.
A mechanics-based model is derived and it is demonstrated that, similar to concentric tube robots, relative twisting between the tendon-actuated tubes is an ...
Apr 3, 2023 · In this paper, an improved kinematic modeling method is developed. The effect of clearance on tip position during concentric tube assembly is compensated by ...
This article introduces the design and control of a tendon-driven continuum robot (CR) segment with a modular structure consisting of a series of backbone ...
[PDF] Concentric Push-Pull Robots: Planar Modeling and Design - NSF PAR
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Abstract— Concentric push-pull robots (CPPR) combine the simplicity, miniaturization potential, and open lumen of concentric-tube robots with the kinematic ...
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A simulation model is analyzed in detail, showing that it incorporates spatio-temporal features discovered in the biomechanical studies of biological hydrostats ...
Nov 17, 2019 · Continuum robots are highly miniaturizable, exhibit non-linear shapes with several curves, and are flexible and compliant.
Apr 26, 2022 · We propose a segment design that combines two distinct characteristics of tendon-driven continuum robots, ie variable length and non-straight tendon routing, ...