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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)
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
会议录名称2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码2012-2017
收录类别EI ; CPCI(ISTP)
EI收录号20160801970885
WOS记录号WOS:000371885402027
产权排序1
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
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17457
专题机器人学研究室
作者单位1.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
推荐引用方式
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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