期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 25, 期 1, 页码 67-78出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2008.2006868
关键词
Continuum robot; flexible manipulator; medical robot; snake-like robot
类别
This paper presents a new class of thin, dexterous continuum robots, which we call active cannulas due to their potential medical applications. An active cannula is composed of telescoping, concentric, precurved superelastic tubes that can be axially translated and rotated at the base relative to one another. Active cannulas derive bending not from tendon wires or other external mechanisms but from elastic tube interaction in the backbone itself, permitting high dexterity and small size, and dexterity improves with miniaturization. They are designed to traverse narrow and winding environments without relying on guiding environmental reaction forces. These features seem ideal for a variety of applications where a very thin robot with tentacle-like dexterity is needed. In this paper, we apply beam mechanics to obtain a kinematic model of active cannula shape and describe design tools that result from the modeling process. After deriving general equations, we apply them to a simple three-link active cannula. Experimental results illustrate the importance. of including torsional effects and the ability of our model to predict energy bifurcation and active cannula shape.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据