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스프링 구조를 이용한 4자유도 연속체 로봇의 개발Development of a 4-DOF Continuum Robot Using a Spring Backbone
- Other Titles
- Development of a 4-DOF Continuum Robot Using a Spring Backbone
- Issue Date
- Dec-2008
- Publisher
- 한국로봇학회
- Keywords
- Continuum; flexible; Collision Safety; Spring backbone
- Citation
- 로봇학회 논문지, v.3, no.4, pp 323 - 330
- Pages
- 8
- Indexed
- DOMESTIC
- Journal Title
- 로봇학회 논문지
- Volume
- 3
- Number
- 4
- Start Page
- 323
- End Page
- 330
- ISSN
- 1975-6291
2287-3961
- Abstract
- This work deals with a 4-DOF flexible continuum robot that employs a spring as its backbone. The mechanism consists of two modules and each module has 2 DOF. The special features of the proposed mechanism are the flexibility and the backdrivability of the whole body by using a spring backbone. Thus, even in the case of collision with human body, this device can ensure safety. The design and the kinematics for this continuum mechanism are introduced. The performance of this continuum mechanism was shown through simulation and experiment.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)