Developing a Kinematically Similar Master Device for Extensible Continuum Robot Manipulators-Reference-Cited by-同舟云学术

Developing a Kinematically Similar Master Device for Extensible Continuum Robot Manipulators

Published:2018-02-05 Issue:2 Volume:10 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Frazelle Chase G.¹,Kapadia Apoorva²,Walker Ian²

Affiliation:

1. Mechatronics Laboratory, Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29630 e-mail:

2. Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29630 e-mail:

Abstract

We introduce a novel input device for the teleoperation of extensible continuum robots. As opposed to previous works limited by kinematically dissimilar master devices or restricted degrees-of-freedom (DoF), a kinematically similar input device capable of 9DoF is designed and used. The device is capable of achieving configurations identical to a three-section continuum robot and simplifies the teleoperation of such manipulators. In this paper, we outline the design of the input device and its construction. Implementation of the new master device and its effectiveness in regulating a physical system is also discussed.

Funder

National Science Foundation

National Aeronautics and Space Administration

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4039075/6375173/jmr_010_02_025005.pdf

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