Design of a master device for controlling multi-moduled continuum robots
- Title
- Design of a master device for controlling multi-moduled continuum robots
- Author
- 이병주
- Keywords
- Master device; continuum; forward kinematics; DEEP; SYSTEM; MANIPULATORS; KINEMATICS; MECHANICS; SURGERY; FORCE; AREA
- Issue Date
- 2017-05
- Publisher
- SAGE PUBLICATIONS LTD
- Citation
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, v. 231, No. 10, Page. 1921-1931
- Abstract
- Few interface systems designed to control continuum robots have been developed. This work presents a master device for multi-unit continuum robots. The master mechanism has the same kinematic structure as the slave device. The kinematic structure, which uses a spring as a backbone, allows for a unique forward kinematic solution. This design is slim-sized, light-weight, and easy to implement. As an example mechanism, a continuum unit with two degrees of freedom was developed. Two-unit modules were assembled to generate four degrees of freedom. The performance of the master device is verified through a master-slave control experiment.
- URI
- http://journals.sagepub.com/doi/abs/10.1177/0954406215625359https://repository.hanyang.ac.kr/handle/20.500.11754/72092
- ISSN
- 0954-4062
- DOI
- 10.1177/0954406215625359
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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