Tendon-driven Continuum Manipulator (TCM) is a kind of flexible manipulator with outstanding performance on dexterity, safety and intrinsic force sensing ability. These features make TCM prospective for the application in human contact scenarios such as Robot-assisted Minimally Invasive Surgery (RMIS). As an improvable point, this paper proposed a novel design of TCM with capability of one additional rotational DOF (twisting motion) compared with the previous design. Firstly, the basic composition and working principle of the proposed design are introduced. Then the corresponding inverse kinematic model as well as the verification experiment are introduced.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Design and Inverse Kinematics of a Novel Tendon-Driven Continuum Manipulator Capable of Twisting Motion


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:

    Conference:

    International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022



    Publication date :

    2022-06-18


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    AERIAL CONTINUUM MANIPULATOR WITH KINEMATICS FOR VARIABLE LOADING AND MINIMAL TENDON-SLACKING

    LU PENG / PENG RUI / WANG ZEHAO | European Patent Office | 2023

    Free access


    Forward and inverse kinematics of IRb-6 manipulator

    Szkodny, Tadeusz | Online Contents | 1995