Study on stretch-retractable single-section continuum manipulator. (2nd January 2019)

• Record Type: Journal Article
• Authors: Gao, Guohua; Wang, Hao; Fan, Jinwei; Xia, Qixiao; Li, Lianshi; Ren, Han
• Is Part Of: Advanced robotics. Volume 33:Number 1(2019)
• Page Start: 1
• Page End: 12
• Publication Date: 2019-01-02
• Subjects: Stretch-retractable structure -- continuum manipulator -- kinematic -- trajectory planning; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2018.1554507
• Languages: English
• ISSNs: 0169-1864

Abstract

ABSTRACT: This paper proposes a stretch-retractable single-section (SRSS) continuum manipulator. Its backbone is composed by a series of springs. Thus, this continuum manipulator owns feature of a large-scale stretch-retractable ability. With such a feature, different from traditional single-section continuum manipulator which distal end moves in a curved surface, the presented manipulator's distal end has a solid work space. The kinematic model including the variable parameter of backbone length was established, and the stretch-retractable workspace was analyzed, with which the driving strategy was proposed. The prototype was made out based on the concept of the large-scale stretch-retractable backbone. The driving patterns with single parameter input and the driving patterns with multi parameter inputs were carried out. The tests verified the presented SRSS continuum manipulator. GRAPHICAL ABSTRACT: