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RISModeling and Analysis of TendonDriven Parallel Continuum Robots Under Constant Curvature and PseudoRigidBody Assumptions
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article unifies the approaches of kinematic and static modeling, and singularity analysis for tendondriven parallel continuum robots under constant curvature as well as pseudorigidbody assumptions with those implemented ...
Modeling and Analysis of Tendon-Driven Parallel Continuum Robots Under Constant Curvature and Pseudo-Rigid-Body Assumptions
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article unifies the approaches of kinematic and static modeling, and singularity analysis for tendon-driven parallel continuum robots under constant curvature as well as pseudo-rigid-body assumptions with those ...
Design, Fabrication, and Testing of a Needle-Sized Wrist for Surgical Instruments
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a miniature wrist that can be integrated into needle-sized surgical instruments. The wrist consists of a nitinol tube with asymmetric cutouts that is actuated by a single tendon to provide high distal ...
Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The use of continuous and flexible structures instead of rigid links and discrete joints is a growing field of robotics research. Recent work focuses on the inclusion of continuous segments in parallel robots to benefit ...