A cross-helical tendons actuated dexterous continuum manipulator | |
Gao AZ(高安柱)![]() ![]() ![]() ![]() ![]() | |
2015 | |
会议名称 | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
会议日期 | September 28 - October 2, 2015 |
会议地点 | Hamburg, Germany |
页码 | 2012-2017 |
中文摘要 | S shape dexterous continuum manipulators (DCMs) are preferred in minimally invasive surgeries for better steerability towards a target and obstacles avoidance capability. Current ways of realizing S shapes need to combine multi-bending segments which need to control the different segment separately. We propose a cross-helical tendons actuated DCM that can realize S shapes just using one segment. With two pairs of cross-helical tendons, it can realize omin-directional S shapes, where two types of planar S shapes are investigated in this paper. A prototype with 8mm diameter and 80mm length is built and the kinematics characteristics are investigated. The results show it can well realize the desired S shapes. The tip directional capability and obstacles avoidance capability are compared with C shape DCM. |
收录类别 | EI ; CPCI(ISTP) |
产权排序 | 1 |
会议录 | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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会议录出版者 | IEEE |
会议录出版地 | Piscataway, NJ, USA |
语种 | 英语 |
ISBN号 | 978-1-4799-9994-1 |
WOS记录号 | WOS:000371885402027 |
内容类型 | 会议论文 |
源URL | [http://ir.sia.cn/handle/173321/17457] ![]() |
专题 | 沈阳自动化研究所_机器人学研究室 |
推荐引用方式 GB/T 7714 | Gao AZ,Liu H,Zhou YY,et al. A cross-helical tendons actuated dexterous continuum manipulator[C]. 见:2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Hamburg, Germany. September 28 - October 2, 2015. |
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