Mechanics for Tendon Actuated Multisection Continuum Arms
Phanideep S. Gonthina,Michael B. Wooten,Isuru S. Godage,Ian D. Walker,Phanideep S. Gonthina,Michael B. Wooten,Isuru S. Godage,Ian D. Walker
Tendon actuated multisection continuum arms have high potential for inspection applications in highly constrained spaces. They generate motion by axial and bending deformations. However, because of the high mechanical coupling between continuum sections, variable length-based kinematic models produce poor results. A new mechanics model for tendon actuated multisection continuum arms is proposed in...
