Design of a modular continuum robot with alterable compliance using tubular-actuation
Mingyuan Wang,Liang Du,Sheng Bao,Jianjun Yuan,Jinshu Zhou,Shugen Ma,Mingyuan Wang,Liang Du,Sheng Bao,Jianjun Yuan,Jinshu Zhou,Shugen Ma
Compliance is good. However, it is challenging for one compliant continuum robot to finish both high precision manipulation and environmental-adapted motions. In this paper, a modular continuum robot with the alterable compliance characteristic is proposed. Besides, an actuation module is also proposed using a tubular-screw mechanism for non-slippage transmission. Kinematic analyses and dynamic co...
