Continuum Manipulator with Rubber Skin Layer including Pulling-wire Mechanism
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- Hsiao Kaiwen
- University of Tsukuba
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- Mochiyama Hiromi
- University of Tsukuba
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- Takei Toshinobu
- Seikei University
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- Shinotsuka Ei
- Hanakigum Corporation
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- Ogawa Kiyoshi
- Hanakigum Corporation
Bibliographic Information
- Other Title
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- ゴム皮膚層にワイヤ駆動機構を内蔵する連続体マニピュレータ
- 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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Abstract
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.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 35 (3), 221-229, 2017
The Robotics Society of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390001204728631424
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- NII Article ID
- 130006855090
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 028162584
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed