Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches
| Publication Date: |
2018-03-06
|
|---|---|
| Publisher: |
Institute of Physics (IOP)
|
| Print ISSN: |
1757-8981
|
| Electronic ISSN: |
1757-899X
|
| Topics: |
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
|
| Published by: |
| _version_ | 1836398824466153472 |
|---|---|
| autor | Z X Yang, W L Yang and Z J Du |
| beschreibung | Single port surgical robot (SPSR) is a giant leap in the development of minimally invasive surgical robot. An innovative manipulator with high control accuracy and good kinematic dexterity can reduce wound, expedite recovery, and improve the success rate. This paper presents a tendon-driven continuum manipulator with crossed notches. This manipulator has two degrees of freedom (DOF), which possesses good flexibility and high capacity. Then based on cantilever beam theory, a mechanics model is proposed, which connects external force and deformation of a single flexible ring (SFR). By calculating the deformation of each SFR, the manipulator is considered as a series robot whose joint numbers is equal to SFR numbers, and the kinematics model is established through Denavit-Hartenberg (D-H) procedure. In this paper, the total manipulator is described as a curve tube whose curvature is increased from tip to base. Experiments were conducted and the comparison between theoretical and ac... |
| citation_standardnr | 6188521 |
| datenlieferant | ipn_articles |
| feed_id | 123476 |
| feed_publisher | Institute of Physics (IOP) |
| feed_publisher_url | http://www.iop.org/ |
| insertion_date | 2018-03-06 |
| journaleissn | 1757-899X |
| journalissn | 1757-8981 |
| publikationsjahr_anzeige | 2018 |
| publikationsjahr_facette | 2018 |
| publikationsjahr_intervall | 7984:2015-2019 |
| publikationsjahr_sort | 2018 |
| publisher | Institute of Physics (IOP) |
| quelle | IOP Conference Series: Materials Science and Engineering |
| relation | http://iopscience.iop.org/1757-899X/320/1/012005 |
| search_space | articles |
| shingle_author_1 | Z X Yang, W L Yang and Z J Du |
| shingle_author_2 | Z X Yang, W L Yang and Z J Du |
| shingle_author_3 | Z X Yang, W L Yang and Z J Du |
| shingle_author_4 | Z X Yang, W L Yang and Z J Du |
| shingle_catch_all_1 | Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches Single port surgical robot (SPSR) is a giant leap in the development of minimally invasive surgical robot. An innovative manipulator with high control accuracy and good kinematic dexterity can reduce wound, expedite recovery, and improve the success rate. This paper presents a tendon-driven continuum manipulator with crossed notches. This manipulator has two degrees of freedom (DOF), which possesses good flexibility and high capacity. Then based on cantilever beam theory, a mechanics model is proposed, which connects external force and deformation of a single flexible ring (SFR). By calculating the deformation of each SFR, the manipulator is considered as a series robot whose joint numbers is equal to SFR numbers, and the kinematics model is established through Denavit-Hartenberg (D-H) procedure. In this paper, the total manipulator is described as a curve tube whose curvature is increased from tip to base. Experiments were conducted and the comparison between theoretical and ac... Z X Yang, W L Yang and Z J Du Institute of Physics (IOP) 1757-8981 17578981 1757-899X 1757899X |
| shingle_catch_all_2 | Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches Single port surgical robot (SPSR) is a giant leap in the development of minimally invasive surgical robot. An innovative manipulator with high control accuracy and good kinematic dexterity can reduce wound, expedite recovery, and improve the success rate. This paper presents a tendon-driven continuum manipulator with crossed notches. This manipulator has two degrees of freedom (DOF), which possesses good flexibility and high capacity. Then based on cantilever beam theory, a mechanics model is proposed, which connects external force and deformation of a single flexible ring (SFR). By calculating the deformation of each SFR, the manipulator is considered as a series robot whose joint numbers is equal to SFR numbers, and the kinematics model is established through Denavit-Hartenberg (D-H) procedure. In this paper, the total manipulator is described as a curve tube whose curvature is increased from tip to base. Experiments were conducted and the comparison between theoretical and ac... Z X Yang, W L Yang and Z J Du Institute of Physics (IOP) 1757-8981 17578981 1757-899X 1757899X |
| shingle_catch_all_3 | Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches Single port surgical robot (SPSR) is a giant leap in the development of minimally invasive surgical robot. An innovative manipulator with high control accuracy and good kinematic dexterity can reduce wound, expedite recovery, and improve the success rate. This paper presents a tendon-driven continuum manipulator with crossed notches. This manipulator has two degrees of freedom (DOF), which possesses good flexibility and high capacity. Then based on cantilever beam theory, a mechanics model is proposed, which connects external force and deformation of a single flexible ring (SFR). By calculating the deformation of each SFR, the manipulator is considered as a series robot whose joint numbers is equal to SFR numbers, and the kinematics model is established through Denavit-Hartenberg (D-H) procedure. In this paper, the total manipulator is described as a curve tube whose curvature is increased from tip to base. Experiments were conducted and the comparison between theoretical and ac... Z X Yang, W L Yang and Z J Du Institute of Physics (IOP) 1757-8981 17578981 1757-899X 1757899X |
| shingle_catch_all_4 | Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches Single port surgical robot (SPSR) is a giant leap in the development of minimally invasive surgical robot. An innovative manipulator with high control accuracy and good kinematic dexterity can reduce wound, expedite recovery, and improve the success rate. This paper presents a tendon-driven continuum manipulator with crossed notches. This manipulator has two degrees of freedom (DOF), which possesses good flexibility and high capacity. Then based on cantilever beam theory, a mechanics model is proposed, which connects external force and deformation of a single flexible ring (SFR). By calculating the deformation of each SFR, the manipulator is considered as a series robot whose joint numbers is equal to SFR numbers, and the kinematics model is established through Denavit-Hartenberg (D-H) procedure. In this paper, the total manipulator is described as a curve tube whose curvature is increased from tip to base. Experiments were conducted and the comparison between theoretical and ac... Z X Yang, W L Yang and Z J Du Institute of Physics (IOP) 1757-8981 17578981 1757-899X 1757899X |
| shingle_title_1 | Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches |
| shingle_title_2 | Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches |
| shingle_title_3 | Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches |
| shingle_title_4 | Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches |
| timestamp | 2025-06-30T23:33:13.108Z |
| titel | Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches |
| titel_suche | Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches |
| topic | ZL |
| uid | ipn_articles_6188521 |