Abstract
Continuum robots are utilized in various fields, such as surgical catheters, and used to assist human muscular strength. To make continuum robots more practical, it is essential to miniaturize or reduce their weights. For tendon-driven robots, the weight of motors is the most important factor to be concerned. Accordingly, we suggest a method to control the tendon-driven continuum robot with a single motor to lighten the weight, which needed more than two motors. However, it is difficult to control the tendon-driven robots with one motor to track the desired trajectory as the lengths of two or more tendons change when the shape of the tendon-driven robot changes. To overcome this issue, we designed a radius-variable pulley, using which the required lengths for respective tendons can be achieved when only a single motor is operating.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
