A cross-helical tendons actuated dexterous continuum manipulator
文献类型：会议论文
| 作者 | Gao AZ(高安柱) ; Liu H(刘浩); Zhou YY(周圆圆); Yang ZD(杨臻达); Wang ZD(王志东); Li HY(李洪谊)
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| 出版日期 | 2015 |
| 会议名称 | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| 会议日期 | September 28 - October 2, 2015 |
| 会议地点 | Hamburg, Germany |
| 页码 | 2012-2017 |
| 中文摘要 | S shape dexterous continuum manipulators (DCMs) are preferred in minimally invasive surgeries for better steerability towards a target and obstacles avoidance capability. Current ways of realizing S shapes need to combine multi-bending segments which need to control the different segment separately. We propose a cross-helical tendons actuated DCM that can realize S shapes just using one segment. With two pairs of cross-helical tendons, it can realize omin-directional S shapes, where two types of planar S shapes are investigated in this paper. A prototype with 8mm diameter and 80mm length is built and the kinematics characteristics are investigated. The results show it can well realize the desired S shapes. The tip directional capability and obstacles avoidance capability are compared with C shape DCM. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-9994-1 |
| WOS记录号 | WOS:000371885402027 |
| 源URL | [http://ir.sia.cn/handle/173321/17457]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Gao AZ,Liu H,Zhou YY,et al. A cross-helical tendons actuated dexterous continuum manipulator[C]. 见:2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Hamburg, Germany. September 28 - October 2, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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