A Self-Assembling Extendable Tendon-Driven Continuum Robot With Variable Length
Fischer N, Becher M, Holtge L, Mathis-Ullrich F (2023)
Publication Type: Journal article
Publication year: 2023
Journal
Book Volume: 8
Pages Range: 8518-8524
Journal Issue: 12
Abstract
Tendon-driven continuum robots offer enhanced dexterity for intricate tasks within confined spaces. Nevertheless, when exclusively relying on remote access points, the entire fixed-length robotic system must be precisely repositioned to insert the robotic structure. Conversely, existing methods incorporating extendability tend to introduce complex design requirements, often resulting in a larger spatial footprint. Here, we present a novel design featuring a self-assembling continuum robotic structure during extension process with variable section- and segment lengths. We investigate a compact actuator unit (240mm × 140mm × 145 mm, 1.5 kg) assembling a robotic structure smaller than 15.4mm in diameter,, with a three-tendon configuration and two omnidirectional bendable segments, able to extend up to 240mm. A reliable assembly performance was found with repeatability errors below 2mm during extension, while workspace and dexterity of the continuum robot achieved a median error of 2.39 mm for bending. Our scalable approach reaches state-of-the-art dexterity and workspace range, showing great potential to be used for existing and future tendon-driven robotic systems.
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Germany (DE)How to cite
APA:
Fischer, N., Becher, M., Holtge, L., & Mathis-Ullrich, F. (2023). A Self-Assembling Extendable Tendon-Driven Continuum Robot With Variable Length. IEEE Robotics and Automation Letters, 8(12), 8518-8524. https://doi.org/10.1109/LRA.2023.3325781
MLA:
Fischer, N., et al. "A Self-Assembling Extendable Tendon-Driven Continuum Robot With Variable Length." IEEE Robotics and Automation Letters 8.12 (2023): 8518-8524.
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