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Dynamic Modeling for a Continuum Robot With Compliant Structure

[+] Author Affiliations
Yong Guo, Rongjie Kang

Tianjin University, Tianjin, China

Lisha Chen

Tianjin Polytechnic University, Tianjin, China

Jian Dai

King’s College, London, UK

Paper No. DETC2015-46683, pp. V05AT08A013; 8 pages
doi:10.1115/DETC2015-46683
From:
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5712-0
  • Copyright © 2015 by ASME

abstract

Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance and safety. However, the modeling and control of such robots are complex in comparison with conventional rigid ones. This paper presents the design of a pneumatically actuated continuum robot. A 3-dimensional dynamic model is then developed by using the mass-damper-spring system based networks, in which elastic deformation, actuating forces and external forces are taken into account. The model is validated by experiments and shows good agreement with the robotic prototype.

Copyright © 2015 by ASME

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