Modeling of notched variable stiffness continuum flexible Snake-like Robot
文献类型：会议论文
| 作者 | Zhang F(张凤); Tian S(田申); Cui L(崔龙) ; Wang HW(王洪伟); Huang JW(黄菊伟)
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| 出版日期 | 2018 |
| 会议日期 | November 4-7, 2018 |
| 会议地点 | Taoyuan, Taiwan, China |
| 页码 | 1-6 |
| 英文摘要 | Flexible snake-like robot is the research frontier of minimally invasive surgical robot system. In this paper, we discussed the structure of a notched continuum flexible snake-like robot. According to the constant curvature hypothesis, the kinematics model has been established, and its workspace was estimated. When the robot has equal stiffness, due to the effect of internal and external factors, the deformation does not reach the arc state. In order to improve the deformation, and make closer to the arc, we use the method of changing the stiffness of Robot in structure. Verification by finite element analysis and experiment, the results show that the notch continuum flexible snake-like robot variable stiffness makes the deformation is closer to the l / 2 arc, it is proved that the effectiveness of the improved snake robot is verified. |
| 产权排序 | 1 |
| 会议录 | 2018 International Automatic Control Conference, CACS 2018
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-6278-6 |
| 源URL | [http://ir.sia.cn/handle/173321/24391]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Huang JW(黄菊伟) |
| 作者单位 | State Key Laboratory of Robotics Shenyang Institute of Automation(SIA), Chinese Academy of Sciences(CAS) Shenyang, Liaoning Province, China |
| 推荐引用方式 GB/T 7714 | Zhang F,Tian S,Cui L,et al. Modeling of notched variable stiffness continuum flexible Snake-like Robot[C]. 见:. Taoyuan, Taiwan, China. November 4-7, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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