Abstract
Wire-driven continuum manipulators are gaining more attention due to their flexibility and dexterity features. In comparison with traditional manipulators, the continuum structure is compliant and safe for human tissue and is able to easily adapt to the unstructured environment. Despite its advantages, wire-driven mechanisms have a serious problem with tension. While pushing and pulling, the wire loses tension, which leads to an ineffective way of driving the pulleys. Therefore, in this research, we propose a novel discrete continuum robot arm with a passive pre-tension mechanism that avoids the wire tension problem. Moreover, this paper will describe the backbone design of the discrete continuum arm and pre-tension mechanism structure, as well as forward and inverse kinematics and kinetic solutions, with simulation results.
Highlights
Wire-driven mechanisms have been utilized in many biomechanical and medical robots because of the beneficial features of using wire
The backbone design of continuum robots can be divided into three main groups: discrete continuum robot, hard continuum robot, and soft continuum robot arm
According to the formulation, explain of theisproposed discrete robot.AAccording to the structure, the we slender partthe of kinematics the manipulator divided into two continuum actuating parts: single actuation structure, the slender part of the manipulator is divided into two actuating parts: A
Summary
Graduate School of Science and Technology, Tokai University, 4-1-1 Kitakaname, Kanagawa-ken 259-1292, Japan.
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