A cross-helical tendons actuated dexterous continuum manipulator

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	A cross-helical tendons actuated dexterous continuum manipulator
	Gao AZ(高安柱); Liu H(刘浩); Zhou YY(周圆圆); Yang ZD(杨臻达); Wang ZD(王志东); Li HY(李洪谊)
	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)
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.