A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control
Wire-driven continuum manipulators are gaining more attention due to their flexibility and dexterity features. In comparison with traditional manipulators, the continuum structure is compliant and safe for human tissue and is able to easily adapt to the unstructured environment. Despite its advantag...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-07-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/8/3/51 |
| _version_ | 1811185156408475648 |
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| author | Azamat Yeshmukhametov Koichi Koganezawa Yoshio Yamamoto |
| author_facet | Azamat Yeshmukhametov Koichi Koganezawa Yoshio Yamamoto |
| author_sort | Azamat Yeshmukhametov |
| collection | DOAJ |
| description | Wire-driven continuum manipulators are gaining more attention due to their flexibility and dexterity features. In comparison with traditional manipulators, the continuum structure is compliant and safe for human tissue and is able to easily adapt to the unstructured environment. Despite its advantages, wire-driven mechanisms have a serious problem with tension. While pushing and pulling, the wire loses tension, which leads to an ineffective way of driving the pulleys. Therefore, in this research, we propose a novel discrete continuum robot arm with a passive pre-tension mechanism that avoids the wire tension problem. Moreover, this paper will describe the backbone design of the discrete continuum arm and pre-tension mechanism structure, as well as forward and inverse kinematics and kinetic solutions, with simulation results. |
| first_indexed | 2024-04-11T13:25:42Z |
| format | Article |
| id | doaj.art-762246003b194bd89c2eb78dfc47848f |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-04-11T13:25:42Z |
| publishDate | 2019-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-762246003b194bd89c2eb78dfc47848f2022-12-22T04:22:05ZengMDPI AGRobotics2218-65812019-07-01835110.3390/robotics8030051robotics8030051A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension ControlAzamat Yeshmukhametov0Koichi Koganezawa1Yoshio Yamamoto2Graduate School of Science and Technology, Tokai University, 4-1-1 Kitakaname, Kanagawa-ken 259-1292, JapanDepartment of Mechanical Engineering, Tokai University, 4-1-1 Kitakaname, Kanagawa-ken 259-1292, JapanDepartment of Precision Engineering, Tokai University, 4-1-1 Kitakaname, Kanagawa-ken 259-1292, JapanWire-driven continuum manipulators are gaining more attention due to their flexibility and dexterity features. In comparison with traditional manipulators, the continuum structure is compliant and safe for human tissue and is able to easily adapt to the unstructured environment. Despite its advantages, wire-driven mechanisms have a serious problem with tension. While pushing and pulling, the wire loses tension, which leads to an ineffective way of driving the pulleys. Therefore, in this research, we propose a novel discrete continuum robot arm with a passive pre-tension mechanism that avoids the wire tension problem. Moreover, this paper will describe the backbone design of the discrete continuum arm and pre-tension mechanism structure, as well as forward and inverse kinematics and kinetic solutions, with simulation results.https://www.mdpi.com/2218-6581/8/3/51discrete continuum armpre-tension mechanismsliding backbonedesignkinematics |
| spellingShingle | Azamat Yeshmukhametov Koichi Koganezawa Yoshio Yamamoto A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control Robotics discrete continuum arm pre-tension mechanism sliding backbone design kinematics |
| title | A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control |
| title_full | A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control |
| title_fullStr | A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control |
| title_full_unstemmed | A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control |
| title_short | A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control |
| title_sort | novel discrete wire driven continuum robot arm with passive sliding disc design kinematics and passive tension control |
| topic | discrete continuum arm pre-tension mechanism sliding backbone design kinematics |
| url | https://www.mdpi.com/2218-6581/8/3/51 |
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