Abstract
Concentric-tube continuum robots feature with
simple and compact structures and have a great potential in
medical applications. The paper is concerned with the shape
modeling of a type of concentric-tube continuum robot built
with a collection of super-elastic NiTiNol tubes. The mechanics
is modeled on the basis of energy approach for both the in-plane
and out-plane cases. The torsional influences on the shape of the
concentric-tube robots are considered. An experimental device
was build for the model validation. The results of simulation
and experiments are included and analyzed.
simple and compact structures and have a great potential in
medical applications. The paper is concerned with the shape
modeling of a type of concentric-tube continuum robot built
with a collection of super-elastic NiTiNol tubes. The mechanics
is modeled on the basis of energy approach for both the in-plane
and out-plane cases. The torsional influences on the shape of the
concentric-tube robots are considered. An experimental device
was build for the model validation. The results of simulation
and experiments are included and analyzed.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012), December 11-14, 2012, Guangzhou, China |
| Number of pages | 6 |
| Publisher | IEEE |
| Publication date | 2012 |
| Pages | 116-121 |
| ISBN (Print) | 978-1-4673-2125-9 |
| DOIs | |
| Publication status | Published - 2012 |
| Event | 2012 IEEE International Conference on Robotics and Biomimetics - Guangzhou, China Duration: 11 Dec 2012 → 14 Dec 2012 |
Conference
| Conference | 2012 IEEE International Conference on Robotics and Biomimetics |
|---|---|
| Country/Territory | China |
| City | Guangzhou |
| Period | 11/12/2012 → 14/12/2012 |