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A cross-helical tendons actuated dexterous continuum manipulator
Gao AZ(高安柱); Liu H(刘浩); Zhou YY(周圆圆); Yang ZD(杨臻达); Wang ZD(王志东); Li HY(李洪谊)
Department机器人学研究室
Conference Name2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference DateSeptember 28 - October 2, 2015
Conference PlaceHamburg, Germany
Source Publication2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages2012-2017
Indexed ByEI ; CPCI(ISTP)
EI Accession number20160801970885
WOS IDWOS:000371885402027
Contribution Rank1
ISBN978-1-4799-9994-1
AbstractS shape dexterous continuum manipulators (DCMs) are preferred in minimally invasive surgeries for better steerability towards a target and obstacles avoidance capability. Current ways of realizing S shapes need to combine multi-bending segments which need to control the different segment separately. We propose a cross-helical tendons actuated DCM that can realize S shapes just using one segment. With two pairs of cross-helical tendons, it can realize omin-directional S shapes, where two types of planar S shapes are investigated in this paper. A prototype with 8mm diameter and 80mm length is built and the kinematics characteristics are investigated. The results show it can well realize the desired S shapes. The tip directional capability and obstacles avoidance capability are compared with C shape DCM.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17457
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Dept. of Advanced Robotics, Chiba Institute of Technology, Narashino, Japan
Recommended Citation
GB/T 7714
Gao AZ,Liu H,Zhou YY,et al. A cross-helical tendons actuated dexterous continuum manipulator[C]. Piscataway, NJ, USA:IEEE,2015:2012-2017.
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