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논문 기본 정보

자료유형
학술대회자료
저자정보
Jiwon Kim (Thomas S. Wooton High School) John Kim (University of Pennsylvania)
저널정보
제어로봇시스템학회 제어로봇시스템학회 국제학술대회 논문집 ICCAS 2023
발행연도
2023.10
수록면
847 - 851 (5page)

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초록· 키워드

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A soft hollow continuum robot, capable of tool or medium delivery, has many unique advantages over rigid-body robots, including flexibility, minimally invasive movements, and maneuverability in tight spaces. Commercial applications for continuum robots include precise motion in minimally invasive surgery, aid in industrial occupations, and fields in manufacturing. The goal of this study is to apply the concepts of biomimicry to develop a versatile device that can be used to access tight spaces within various scenarios. The robot’s structure mimics that of an earthworm, made of a flexible polymer with a soft spring structure and the threaded cables actuate the robot as the tendons. The cable length controlling the motion of the robot is obtained by the continuum robot’s kinematics and controlled by a combination of DC motors and winches. The simulations results confirmed that the robot could achieve three degree-of-freedom (two rotations and one translation) by controlling these cable lengths simultaneously. The prototype featured a hollow body allowing for more flexibility in its uses for multiscale purposes. For instance, one could introduce surgical tools within the body to perform clinical procedures in a millimeter-scale fabrication. Furthermore, the possibilities of a cable-driven continuum robot are endless and could open up new doors for advancing the efficiency of modern technology.

목차

Abstract
1. INTRODUCTION
2. ROBOT KINEMATICS
3. INVERSE KINEMATICS BY LEARNING ALGORITHM
4. SIMULATION AND ANALYSIS
5. CONCLUSION
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