We propose a new kind of continuum robot based on crossed elastic strips. The actuator-specified location of the crossover point controls the lengths of the sections, enabling a wider range of configurations than would be possible with traditional fixed-section-length robots. Push-pull actuation of the crossed strips controls the curvature of the sections. We provide a model that describes the resulting configurations in terms of tangent circular arcs of varying lengths. Experiments with a prototype yield tip positions that agree with model predictions with an average error of 4.6% of the robot’s length.
- Dynamic Systems and Control Division
A New Continuum Robot With Crossed Elastic Strips: Extensible Sections With Only One Actuator per Section
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Remirez, AA, & Webster, RJ, III. "A New Continuum Robot With Crossed Elastic Strips: Extensible Sections With Only One Actuator per Section." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. Columbus, Ohio, USA. October 28–30, 2015. V003T43A004. ASME. https://doi.org/10.1115/DSCC2015-9919
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