A continuum manipulator made of interlocking fibers

A new type of continuum manipulator is presented, in which the body of the device is made up of identical, repeated interlocking fibers. A working prototype is demonstrated. Basic models describing the kinematics and mechanical properties of the device are developed, and their predictions are compar...

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Bibliographic Details
Published in2013 IEEE International Conference on Robotics and Automation pp. 4008 - 4015
Main Authors Moses, Matthew S., Kutzer, Michael D. M., Ma, Hans, Armand, Mehran
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2013
Subjects
Electron tubes
Force
Kinematics
Manipulators
Motion measurement
Prototypes
Structural beams
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Summary:A new type of continuum manipulator is presented, in which the body of the device is made up of identical, repeated interlocking fibers. A working prototype is demonstrated. Basic models describing the kinematics and mechanical properties of the device are developed, and their predictions are compared with the performance of the physical prototype. Advantages of the interlocking design include improved strength due to better load distribution, controllable stiffness, and a large open lumen.
ISBN:1467356417
9781467356411
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2013.6631142