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Study on stretch-retractable single-section continuum manipulator

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...

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Bibliographic Details
Published in:Advanced robotics 2019-01, Vol.33 (1), p.1-12
Main Authors: Gao, Guohua, Wang, Hao, Fan, Jinwei, Xia, Qixiao, Li, Lianshi, Ren, Han
Format: Article
Language:English
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Summary: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.
ISSN:0169-1864
1568-5535
DOI:10.1080/01691864.2018.1554507