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. Preprints2020, 2020120078. https://doi.org/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. https://doi.org/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. Preprints2020, 2020120078. https://doi.org/10.20944/preprints202012.0078.v1
APA Style
Yeshmukhametov, A., Buribayev, Z., Amirgaliyev, B., & Amirgaliyev, Y. (2020). A Wire-Driven Discrete Continuum Robot Sliding and Non-sliding Backbone Design Analysis and Validation of Kinematics/Kinetics. Preprints. https://doi.org/10.20944/preprints202012.0078.v1
Chicago/Turabian Style
Yeshmukhametov, A., Beibut Amirgaliyev and Yedilkkhan Amirgaliyev. 2020 "A Wire-Driven Discrete Continuum Robot Sliding and Non-sliding Backbone Design Analysis and Validation of Kinematics/Kinetics" Preprints. https://doi.org/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.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
