Inconstant curvature kinematics of parallel continuum robot without static model
Tao Zhang,Huxin Gao,Hongliang Ren,Tao Zhang,Huxin Gao,Hongliang Ren
In the study of minimally invasive surgical robots, a mini parallel continuum robot has shown motion advantage after passing through a long and winding working channel. However, due to the interaction force between the elastic wires of the parallel robots during motion generation processes, the constant curvature assumption has shown modeling errors. This causes the current geometric kinematic mod...
