스프링 구조를 이용한 4자유도 연속체 로봇의 개발
Development of a 4-DOF Continuum Robot Using a Spring Backbone
1
조회
0
다운로드
2
인용
0
참고문헌
키워드
초록
This work deals with a 4-DOF flexible continuum robot that employs a spring as its backbone. The mechanism consists of two modules and each module has 2 DOF. The special features of the proposed mechanism are the flexibility and the backdrivability of the whole body by using a spring backbone. Thus, even in the case of collision with human body, this device can ensure safety. The design and the kinematics for this continuum mechanism are introduced. The performance of this continuum mechanism was shown through simulation and experiment.
Abstract
This work deals with a 4-DOF flexible continuum robot that employs a spring as its backbone. The mechanism consists of two modules and each module has 2 DOF. The special features of the proposed mechanism are the flexibility and the backdrivability of the whole body by using a spring backbone. Thus, even in the case of collision with human body, this device can ensure safety. The design and the kinematics for this continuum mechanism are introduced. The performance of this continuum mechanism was shown through simulation and experiment.
참고문헌 (12)
- M.W. Hannan, "Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots", Journal of the robotic systems, pp.45~63 (2003)
- I.A. Gravagne, "Manipulability, force, and compliance analysis for planar continuum manipulators", IEEE Trans. Robotics and Automation, 18(3), pp.263~273 (2002)
- B. A. Jones, "Kinematics for multi section continuum robots", IEEE Trans. Robotics, 22(1), pp.43~57 (2006)
- M. W. Hannan, "Analysis and initial experiments for a novel elephant’s trunk robot", in Proc. IEEE, 2000, 330~337
- M. W. Hannan, "Novel kinematics for continuum robots", in Proc. Advances in Robot Kine matics (ARK-2000), pp.227~238 (2000)
- R. J. Webster III, "Toward active cannulas:miniauture snake-like surgical robots", in Proc. IEEE, 2006, 2857~2863
- P. Sears, "A steerable needle technology using curved concentric tubes", in Proc. IEEE, 2006, 2850~2856
- D.-G. Choi, "Design of a Spring Backbone Micro Endoscope", in Proc. IEEE, 2007, 1815~1821
- Mitchell W. Pryor, "Generalized Software Components for Reconfiguring Hyper-Redundant Manipulators", IEEE, 2002, pp.7(4), 475~478
- S.-S. Yoon, "Safe arm with MR-based passive compliant joints and viscous-elastic covering for service robot applications", in Proc. IEEE, 2003, 2191~2196
- J.-J. Park, "Safe Joint Mechanism based on Passive Compliance for Collision Safety", in Proc. IEEE Int. Conf. on Advanced Robotics, pp.473~478 (2007)
- A.A. Maciejewsky, "Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments", International Journal of Robotics Research, 4(3), pp.109~117 (1985)