Abstract
An essential problem in developing concentric-tube continuum robots is to determine the shape of the robot, which is dependent on robot structure and external load. A comprehensive model that takes into considerations of influencing factors is hence required. In this work, the shape modeling of a type of concentric-tube continuum robot built with a collection of super-elastic NiTiNol tubes is studied. The model, developed on the basis of differential geometry and curved beam theory, is able to determine both the bending deflection and torsional deformation for a continuum robot of continuous curvature. Simulation results for calculating the shape of a continuum robot built with NiTiNol tubes are included.
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