Analysis of Twist Deformation in Wire-driven Continuum Surgical Robot
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-018-0400-7
Abstract: Wire-driven continuum surgical robots are attracting significant interest in minimally invasive surgeries owing to their high dexterity level and miniaturization. However, twist deformation due to the external force at the end effector decreases the accuracy… read more here.
Keywords: driven continuum; robot; twist deformation; deformation ... See more keywords
Workspace analysis of cable-driven continuum manipulators based on static model
Sign Up to like & getrecommendations! Published in 2018 at "Robotics and Computer-integrated Manufacturing"
DOI: 10.1016/j.rcim.2017.07.002
Abstract: Abstract Cable-driven continuum manipulators are widely used in confined space applications, e.g. minimally invasive surgery. Different from conventional rigid manipulators, their end-effectors are positioned by deforming the flexible backbone. Existing workspace analysis of cable-driven continuum… read more here.
Keywords: cable; workspace; cable driven; driven continuum ... See more keywords
FIORA : A Flexible Tendon-Driven Continuum Manipulator for Laparoscopic Surgery
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3134276
Abstract: Aiming at solving the problems of low flexibility, poor internal extension, and chopstick effect in most laparoscopic surgical robots, this letter presents a flexible tendon-driven continuum surgical manipulator with eight degrees of freedom, called FIORA.… read more here.
Keywords: continuum manipulator; driven continuum; flexible tendon; fiora flexible ... See more keywords
Optimization of Stress Distribution in Tendon-Driven Continuum Robots Using Fish-Tail-Inspired Method
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3147456
Abstract: Tendon-driven continuum robots are widely used in different engineering disciplines due to their simple structure and high flexibility. The typical structure of a tendon-driven continuum robot usually contains a series of identical compliant joints in… read more here.
Keywords: compliant joints; driven continuum; continuum robots; tendon driven ... See more keywords
Novel Design of a Cable-Driven Continuum Robot With Multiple Motion Patterns
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3166547
Abstract: Cable-driven continuum robots exhibit accessing and manipulation capabilities in constrained and cluttered environments that are unachievable for traditional robots composing of discrete links and joints. However, the existing continuum robots structured by non-scalable backbones are… read more here.
Keywords: driven continuum; motion; design; continuum robot ... See more keywords
Synergy-Based Analytical Design of Wire-Driven Continuum Manipulators
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3191228
Abstract: This letter discusses the design for wire-driven continuum manipulators. To achieve multiple desired postures, a novel design method that analytically determines the mechanism and control parameters of the manipulator is proposed. First, by introducing a… read more here.
Keywords: continuum manipulators; wire driven; driven continuum; design wire ... See more keywords
Modelling of Tendon-Driven Continuum Robot Based on Constraint Analysis and Pseudo-Rigid Body Model
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3234821
Abstract: Quasi-static models of tendon-driven continuum robots (TDCR) require consideration of both the kinematic and static conditions simultaneously. While the Pseudo-Rigid Body (PRB-3R) model has been demonstrated to be efficient, existing works ignore the mechanical effect… read more here.
Keywords: driven continuum; pseudo rigid; rigid body; model ... See more keywords
QPSO-MPC based tracking algorithm for cable-driven continuum robots
Sign Up to like & getrecommendations! Published in 2022 at "Frontiers in Neurorobotics"
DOI: 10.3389/fnbot.2022.1014163
Abstract: Cable-driven continuum robots (CDCRs) can flexibly travel through narrow space for complex workspace tasks. However, it is challenging to design the trajectory tracking algorithm for CDCRs due to their nonlinear dynamic behaviors and cable hysteresis… read more here.
Keywords: qpso mpc; driven continuum; tracking algorithm; mpc ... See more keywords
A Novel Space Robot with Triple Cable-Driven Continuum Arms for Space Grasping
Sign Up to like & getrecommendations! Published in 2023 at "Micromachines"
DOI: 10.3390/mi14020416
Abstract: With the increasing demand of human beings for space exploration, space robots show great development potential. When grasping space objects with different sizes and shapes, cable-driven continuum arms have better performance than traditional robots. In… read more here.
Keywords: driven continuum; space; robot; continuum arms ... See more keywords