A Novel Coiled Cable-Conduit-Driven Hyper-Redundant Manipulator for Remote Operating in Narrow Spaces
Mingrui Luo,Yunong Tian,En Li,Minghao Chen,Cunfeng Kang,Guodong Yang,Min Tan,Mingrui Luo,Yunong Tian,En Li,Minghao Chen,Cunfeng Kang,Guodong Yang,Min Tan
Operating in narrow spaces is an important challenge in the development of robots. Redundant manipulators are one way to solve this problem, but their mechanism design and control method still have much room for improvement. In this paper, we propose a coiled cable-conduit-driven hyper-redundant manipulator (C-CDHRM) with great slenderness and flexibility. In terms of mechanism design, it consider...
