It appears you don't have support to open PDFs in this web browser. To view this file, Open with your PDF reader
Abstract
Continuum robots are the biologically inspired robots that mimic the behaviors of mammalian tongues, elephant trunks, and octopus arms.
The drawbacks of two existing designs are examined and a new mechanical design that uses a single latex rubber tube as the central member is proposed, providing a design that is both simple and robust. Next, a novel verification procedure is applied to examine the validity of the proposed model in two different domains of applicability. A two-level electrical control scheme enables rapid prototyping and can be used to control the continuum robot remotely. Next, a new geometrical approach to solve inverse kinematics for continuum type robot manipulators is introduced. Given the tip of a three section robot, a complete inverse kinematics solution is obtained. Finally, the techniques involved in visualization of AirOctor/OctArm in 3D space in real-time are discussed. The algorithm has been tested with several system topologies.
You have requested "on-the-fly" machine translation of selected content from our databases. This functionality is provided solely for your convenience and is in no way intended to replace human translation. Show full disclaimer
Neither ProQuest nor its licensors make any representations or warranties with respect to the translations. The translations are automatically generated "AS IS" and "AS AVAILABLE" and are not retained in our systems. PROQUEST AND ITS LICENSORS SPECIFICALLY DISCLAIM ANY AND ALL EXPRESS OR IMPLIED WARRANTIES, INCLUDING WITHOUT LIMITATION, ANY WARRANTIES FOR AVAILABILITY, ACCURACY, TIMELINESS, COMPLETENESS, NON-INFRINGMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. Your use of the translations is subject to all use restrictions contained in your Electronic Products License Agreement and by using the translation functionality you agree to forgo any and all claims against ProQuest or its licensors for your use of the translation functionality and any output derived there from. Hide full disclaimer