Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866910311447003136 |
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| author | Pittiglio, Giovanni Mencattelli, Margherita Donder, Abdulhamit Chitalia, Yash Dupont, Pierre E. |
| author_facet | Pittiglio, Giovanni Mencattelli, Margherita Donder, Abdulhamit Chitalia, Yash Dupont, Pierre E. |
| contents | A hybrid continuum robot design is introduced that combines a proximal tendon-actuated section with a distal telescoping section comprised of permanent-magnet spheres actuated using an external magnet. While, individually, each section can approach a point in its workspace from one or at most several orientations, the two-section combination possesses a dexterous workspace. The paper describes kinematic modeling of the hybrid design and provides a description of the dexterous workspace. We present experimental validation which shows that a simplified kinematic model produces tip position mean and maximum errors of 3% and 7% of total robot length, respectively. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_17161 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions Pittiglio, Giovanni Mencattelli, Margherita Donder, Abdulhamit Chitalia, Yash Dupont, Pierre E. Robotics Systems and Control A hybrid continuum robot design is introduced that combines a proximal tendon-actuated section with a distal telescoping section comprised of permanent-magnet spheres actuated using an external magnet. While, individually, each section can approach a point in its workspace from one or at most several orientations, the two-section combination possesses a dexterous workspace. The paper describes kinematic modeling of the hybrid design and provides a description of the dexterous workspace. We present experimental validation which shows that a simplified kinematic model produces tip position mean and maximum errors of 3% and 7% of total robot length, respectively. |
| title | Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2401.17161 |