Toward Analytical Modeling and Evaluation of Curvature-Dependent Distributed Friction Force in Tendon-Driven Continuum Manipulators
Yang Liu,Seong Hyo Ahn,Uksang Yoo,Alexander R. Cohen,Farshid Alambeigi,Yang Liu,Seong Hyo Ahn,Uksang Yoo,Alexander R. Cohen,Farshid Alambeigi
In this paper, we present an analytical modeling approach to address the problem of tension loss in a generic variable curvature tendon-driven continuum manipulators (TD-CM) occurring due to the tendon-sheath distributed friction force. Despite the previous approaches in the literature, our presented model and the iterative solution algorithm do not rely on a priori known curvature/shape of the TD...
