Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed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

Subject Areas

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

Comments (0)

We encourage comments and feedback from a broad range of readers. See criteria for comments and our diversity statement.

Leave a public comment
Send a private comment to the author(s)
Views 0
Downloads 0
Comments 0
Metrics 0


×
Alerts
Notify me about updates to this article or when a peer-reviewed version is published.
We use cookies on our website to ensure you get the best experience.
Read more about our cookies here.