다중-유닛 연속체 로봇 컨트롤을 위한 마스터 디바이스의 정기구학 해

Abstract

This work presents a master device for multi-unit continuum robots. Each continuum unit of the device is similar to parallel kinematic mechanism that has a unique forward kinematic solution. Thus, it can be used as a master device to control its slave robot. The forward kinematic solution of a 4-DOF continuum robot consisting of two continuum units and design of this device is presented. This design is slim-sized, light-weighted, and easy to implement. Two unit modules are assembled to generate 4 DOF. The derived kinematic solution is verified through a simulation.