A Static Model for a Stiffness-Adjustable Snake-Like Robot
Di Shun Huang,Jian Hu,Liuchunzi Guo,Yi Sun,Liao Wu,Di Shun Huang,Jian Hu,Liuchunzi Guo,Yi Sun,Liao Wu
In minimally invasive surgery, miniaturisation and in situ adjustable stiffness of robotic manipulators are desired features. Previous research proposed a simple and effective tendon-driven curve-joint manipulator design using a variable neutral-line mechanism, which highly satisfies both criteria. A kinematic model was developed for such a manipulator based on the geometry of the structure. Howev...
