On Tendon Driven Continuum Robots with Compressible Backbones
Manu Srivastava,Ian D. Walker,Manu Srivastava,Ian D. Walker
This paper discusses the effect of axial backbone compression on tendon-driven continuum robots. A new mechanics model for compensating for this effect that does not require tendon tension sensing or knowledge of manipulator material properties/stiffnesses is introduced and analyzed. In addition, we provide an analytical expression for the minimum preload on the tendons to achieve a given bend, a ...
