elastic tendon driven robotstabilitygravity compensationThis paper discusses the dynamic behavior and stability of the marionette style elastic tendon driven robot arm. The purpose of this study is to develop a low-cost and customizable robotic mechanism and its controller suitable to perform tasks ...
Robust trajectory tracking control for an ultra lightweight tendon driven series elastic robot arm. Proc. IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016: 1297-1304. S X Zhang, W Q Wang, Z G Xu, et al. Adaptive sliding mode robust control of manipulator driven ...
Continuum manipulators (CMs) have received a great deal of attention in industry1,2, especially in robot-assisted surgery3 , due to their higher dexterity and safety when compared to rigid-link manipulators. A tendon-driven mechanism is the most commonly used in the field of surgical robotics....
Rao, P., Peyron, Q., Lilge, S., Burgner-Kahrs, J.: How to model tendon-driven continuum robots and benchmark modelling performance. Front. Robot. AI7, 630245 (2021) Google Scholar Della Santina, C., Bicchi, A., Rus, D.: On an improved state parametrization for soft robots with pi...
This thesis presents a design for cable-driven serial manipulators with two degrees of freedom which is lightweight and safe to use in a non-industrial setting. Conventional industrial robot arms have several applications such as welding, palletization and on the assembly line, but are heavy to ...
Problem to be solved: to provide a highly accurate soft endoscope robot system. Soft endoscope robot slave systemEndoscope body 310 andAnd then extendedA flexible long shaft 312 capable of accommodating at least one tendon driven robotic endoscope instrument internallyA docking station 500 can be ...
A robotic system includes a tendon-driven end effector, a linear actuator, a flexible tendon, and a plate assembly. The linear actuator assembly has a servo motor and a drive mechanism, the latter of which translates linearly with respect to a drive axis of the servo motor in response to ...
To resolve this problem, an estimation algorithm based on vision processing is proposed in this research. In order to estimate the shape of a two-section tendon-driven continuum robotic arm, each section is considered as a circular arc of multiple curvature in the 3D space. To implement the ...
Robot armPneumatic actuatorTendon-drivenHybrid -controlThe Tendon-Driven robot is prospective as the welfare machinery and tools for the avoidance of sudden acceleration occurred by the redundancy of wire and weight saving. So, in this study, the analysis of the driving model and the practical ...
joint torquelightweight robot armtendon driven manipulatorunderactuated robotLightweight manipulator design is one of the diverse and rich research fields in the area of robotics. It has become increasingly important to develop manipulators with reduced cost, high energy efficiency and with low inertia....