Design and analysis of a continuum manipulator for use in narrow spaces
Fei Qi,
Dongming Bai,
Xiaoming Dou
et al.
Abstract:Purpose
This paper aims to present a kinematics analysis method and statics based control of the continuum robot with mortise and tenon joints to achieve better control performance of the robot.
Design/methodology/approach
The kinematics model is derived by the geometric analysis method under the piecewise constant curvature assumption, and the workspace and dexterity of the proposed robot are analyzed to optimize its structure parameters. Moreover, the statics model is established by the principle of virtua… Show more
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