Design of a master device for controlling multi-moduled continuum robots-Reference-Cited by-同舟云学术

Design of a master device for controlling multi-moduled continuum robots

Published:2015-12-31 Issue:10 Volume:231 Page:1921-1931
ISSN:0954-4062
Container-title:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
language:en
Short-container-title:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Author:

Yoon Hyun-Soo¹,Yi Byung-Ju²

Affiliation:

1. Department of Electronic, Electrical, Control and Instrumentation Engineering, Hanyang University, Korea

2. Department of Electronic Systems Engineering, Hanyang University, Korea

Abstract

Few interface systems designed to control continuum robots have been developed. This work presents a master device for multi-unit continuum robots. The master mechanism has the same kinematic structure as the slave device. The kinematic structure, which uses a spring as a backbone, allows for a unique forward kinematic solution. This design is slim-sized, light-weight, and easy to implement. As an example mechanism, a continuum unit with two degrees of freedom was developed. Two-unit modules were assembled to generate four degrees of freedom. The performance of the master device is verified through a master-slave control experiment.

Publisher

SAGE Publications

Subject

Mechanical Engineering

Link

http://journals.sagepub.com/doi/pdf/10.1177/0954406215625359

Reference22 articles.

1. An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots

2. Design and Performance Evaluation of a Minimally Invasive Telerobotic Platform for Transurethral Surveillance and Intervention

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