Design and Stiffness Analysis of a Cable-Driven Continuum Manipulator
文献类型：会议论文
| 作者 | Zhang, Jianbin; Li, Qihang; Chen, Weihai; Fang, Zaojun; Yang, Guilin |
| 出版日期 | 2021 |
| 会议日期 | AUG 01-04, 2021 |
| 关键词 | ROBOTS |
| DOI | 10.1109/ICIEA51954.2021.9516219 |
| 英文摘要 | Compared with traditional rigid link manipulators, cable-driven continuum manipulators have many advantages, such as lightweight mechanical structure, large reachable workspace, high dexterity, and high maneuverability. It is especially suitable to the applications requiring high maneuverability over complex and confined spaces. In this paper, the end stiffness of a cable driven continuum manipulator is modeled and its influencing factors are analyzed. The flexible backbone is used as the support of the manipulator, and the deformation of the flexible support skeleton is precisely controlled by the piecewise drive scheme. Through the analysis, it can be seen that the main factor affecting the stiffness of the manipulator is the joint variable of the module, so we get two kinds of stiffness control schemes for the manipulator. |
| 会议录出版者 | IEEE Conference on Industrial Electronics and Applications |
| 学科主题 | Engineering |
| ISSN号 | 2156-2318 |
| ISBN号 | 978-1-6654-2248-2 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23260]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Zhang, Jianbin,Li, Qihang,Chen, Weihai,et al. Design and Stiffness Analysis of a Cable-Driven Continuum Manipulator[C]. 见:. AUG 01-04, 2021. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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