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Kinematic Analysis of Continuum Robot Consisted of Driven Flexible Rods
Joint Authors
Tian, Yingzhong
Li, Long
Luan, Mingxuan
Gao, Xu
Wang, Wenbin
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-10-31
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Abstract EN
This paper presents the kinematic analysis of a continuum bionic robot with three flexible actuation rods.
Since the motion of the end-effector is actuated by the deformation of the rods, the robot structure is with high elasticity and good compliance and the kinematic analysis of the robot requires special treatment.
We propose a kinematic model based on the geometry with constant curvature.
The analysis consists of two independent mappings: a general mapping for the kinematics of all robots and a specific mapping for this kind of robots.
Both of those mappings are developed for the single section and for the multisections.
We aim at providing a guide for kinematic analysis of the similar manipulators through this paper.
American Psychological Association (APA)
Tian, Yingzhong& Luan, Mingxuan& Gao, Xu& Wang, Wenbin& Li, Long. 2016. Kinematic Analysis of Continuum Robot Consisted of Driven Flexible Rods. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-7.
https://search.emarefa.net/detail/BIM-1112515
Modern Language Association (MLA)
Tian, Yingzhong…[et al.]. Kinematic Analysis of Continuum Robot Consisted of Driven Flexible Rods. Mathematical Problems in Engineering No. 2016 (2016), pp.1-7.
https://search.emarefa.net/detail/BIM-1112515
American Medical Association (AMA)
Tian, Yingzhong& Luan, Mingxuan& Gao, Xu& Wang, Wenbin& Li, Long. Kinematic Analysis of Continuum Robot Consisted of Driven Flexible Rods. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-7.
https://search.emarefa.net/detail/BIM-1112515
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1112515