Detailed Information
Cited 0 time in 
Cited 0 time in 
Cited 0 time in
Metadata Downloads
Design of a master device for controlling multi-moduled continuum robots
- Authors
- Yoon, Hyun-Soo; Yi, Byung-Ju
- Issue Date
- May-2017
- Publisher
- Professional Engineering Publishing Ltd.
- Keywords
- Master device; continuum; forward kinematics
- Citation
- Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, v.231, no.10, pp 1921 - 1931
- Pages
- 11
- Indexed
- SCI
SCIE
SCOPUS
- Journal Title
- Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
- Volume
- 231
- Number
- 10
- Start Page
- 1921
- End Page
- 1931
- ISSN
- 0954-4062
2041-2983
- Abstract
- Few interface systems designed to control continuum robots have been developed. This work presents a master device for multi-unit continuum robots. The master mechanism has the same kinematic structure as the slave device. The kinematic structure, which uses a spring as a backbone, allows for a unique forward kinematic solution. This design is slim-sized, light-weight, and easy to implement. As an example mechanism, a continuum unit with two degrees of freedom was developed. Two-unit modules were assembled to generate four degrees of freedom. The performance of the master device is verified through a master-slave control experiment.
- Files in This Item
- Go to Link
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)