Tubular continuum robots are the smallest among continuum robots. They are composed of multiple, precurved, superelastic tubes. The design space for tubular continuum robots is infinite: each one of the component tubes can be individually parameterized in terms of its length, segmental curvatures, diameter, and material properties. Ad-hoc selection of those parameters is extremely challenging, since the elastic coupling of concentrically arranged and actuated tubes is hard to predict with common sense, especially under the presence of workspace constraints. In this chapter, an overview of the design process is given and the current state of the art in task-specific design of tubular continuum robots is reviewed.


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    Title :

    Task-specific Design of Tubular Continuum Robots for Surgical Applications


    Contributors:

    Published in:

    Soft Robotics ; Chapter : 19 ; 222-230


    Publication date :

    2015-03-14


    Size :

    9 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English