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题名: A cross-helical tendons actuated dexterous continuum manipulator
作者: 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)
作者部门: 机器人学研究室
会议名称: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
会议日期: September 28 - October 2, 2015
会议地点: Hamburg, Germany
会议录: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 2012-2017
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4799-9994-1
摘要: S 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.
语种: 英语
产权排序: 1
WOS记录号: WOS:000371885402027
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17457
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Gao AZ,Liu H,Zhou YY,et al. A cross-helical tendons actuated dexterous continuum manipulator[C]. 见:2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Hamburg, Germany. September 28 - October 2, 2015.
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