Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

A Wire-Driven Discrete Continuum Robot Sliding and Non-sliding Backbone Design Analysis and Validation of Kinematics/Kinetics

Version 1 : Received: 2 December 2020 / Approved: 3 December 2020 / Online: 3 December 2020 (10:00:49 CET)

How to cite: Yeshmukhametov, A.; Buribayev, Z.; Amirgaliyev, B.; Amirgaliyev, Y. A Wire-Driven Discrete Continuum Robot Sliding and Non-sliding Backbone Design Analysis and Validation of Kinematics/Kinetics. Preprints 2020, 2020120078 (doi: 10.20944/preprints202012.0078.v1). Yeshmukhametov, A.; Buribayev, Z.; Amirgaliyev, B.; Amirgaliyev, Y. A Wire-Driven Discrete Continuum Robot Sliding and Non-sliding Backbone Design Analysis and Validation of Kinematics/Kinetics. Preprints 2020, 2020120078 (doi: 10.20944/preprints202012.0078.v1).

Abstract

Wire-driven hyper-redundant continuum manipulators are gaining more popularity and finding more applications in industry and in minimally invasive surgery. Unlike traditional rigid link manipulators, continuum robots with a flexible backbone structure are able to work in a highly constrained workspace and in an unstructured environment. However, in spite of a possible wide range of reachability, continuum manipulators have some issues related to payload capacity, accuracy and control. Therefore, in this research, we propose a novel hyper-redundant continuum robot with a passive sliding disc mechanism to improve payload capacity and accuracy. To prove the sliding mechanism concept, we demonstrate a comparison analysis with a conventional non-sliding continuum robot arm in a payload test, a bending test and a reachability test. Moreover, with this novel design, we are proposing robot kinematics and kinetic formulation and simulation results to validate the effectiveness of the sliding disc mechanism.

Keywords

sliding disc; continuum robot; robot backbone; wire-driven; kinematics and kinetics; wire-tension; design analysis

Subject

ENGINEERING, Automotive Engineering

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