Expeditious design optimization of a concentric tube robot with a heat-shrink plastic tube

Design optimization and fabrication of concentric tube robots are time consuming because of the complexity of their workspaces and the characteristics of the superelastic materials used to make them. This paper presents a procedure for the expeditious design and fabrication of a concentric tube robo...

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Bibliographic Details
Main Authors: Gunwoo Noh, Si Yeop Yoon, Sung Yoon, Keri Kim, Woosub Lee, Sungchul Kang, Deukhee Lee
Format: Conference Proceeding
Language:English
Subjects:
Design optimization
Electron tubes
Fabrication
Plastics
Robots
Surface reconstruction
Online Access:Request full text
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Summary:Design optimization and fabrication of concentric tube robots are time consuming because of the complexity of their workspaces and the characteristics of the superelastic materials used to make them. This paper presents a procedure for the expeditious design and fabrication of a concentric tube robot for applications that require rapid tube preparation but have less complex design constraints. This procedure reduces a 3D workspace optimization problem to a 2D problem. The continuum robot includes a heat-shrink tube to reduce fabrication time and to give it a small radius of curvature. Experimental results illustrate the feasibility of the proposed procedure.
ISSN:2153-0866
DOI:10.1109/IROS.2016.7759541