書誌事項
- タイトル別名
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- Continuum Manipulator with Rubber Skin Layer including Pulling-wire Mechanism
- ゴム ヒフソウ ニ ワイヤ クドウ キコウ オ ナイゾウ スル レンゾクタイ マニピュレータ
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抄録
In this paper, we propose a method to fabricate a slim continuum manipulator by embedding pulling-wire mechanisms into a thin rubber layer formed around an elastic backbone of the manipulator without increasing its elasticity largely. Fundamental experimental results show that the continuum manipulator prototype based on the proposed method can achieve, not only bending on several planes on three-dimensional space by pulling its three wires appropriately, but also a 360-degree bending of its tip in some direction with forming non-constant curvature shape. It is also shown that a simple mathematical model can explain the linear relationship between the tip bending angle and the wire pulling distance which is verified experimentally.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 35 (3), 221-229, 2017
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204728631424
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- NII論文ID
- 130006855090
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 028162584
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可