Continuum robot actuation by a single motor per antagonistic tendon pair: workspace and repeatability analysis
Marzi C, Buck F, Mathis-Ullrich F (2023)
Publication Type: Journal article
Publication year: 2023
Journal
Book Volume: 71
Pages Range: 528-536
Journal Issue: 7
Abstract
Continuum robots for application in medicine are of high interest in recent research. However, as most systems in literature show complex and large actuator units, setting up such a system can be time consuming, costly and results in a bulky system, unsuitable for the spatial requirements given in surgical scenarios. In this work, a compact, efficient continuum robotic system is presented. A pair of two antagonistic tendons is controlled by a single servo motor instead of single tendon actuation. This way, the actuator footprint is maintained at a minimum size and the method results in a simpler setup. The resulting 260 mm long robot with 9.9 mm diameter achieves a repeatability with an error of maximum 1.8 % of its length. In future work, this work serves as a basis for integration of various sensing modalities in continuum robots and evaluation of control algorithms.
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Germany (DE)How to cite
APA:
Marzi, C., Buck, F., & Mathis-Ullrich, F. (2023). Continuum robot actuation by a single motor per antagonistic tendon pair: workspace and repeatability analysis. At-Automatisierungstechnik, 71(7), 528-536. https://doi.org/10.1515/auto-2023-0066
MLA:
Marzi, Christian, Felix Buck, and Franziska Mathis-Ullrich. "Continuum robot actuation by a single motor per antagonistic tendon pair: workspace and repeatability analysis." At-Automatisierungstechnik 71.7 (2023): 528-536.
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