A Generic Modeling Framework For the Design of Tendon-Driven Continuum Manipulators with Flexure Patterns

Yang Liu; Hansoul Kim; Yash Kulkarni; Farshid Alambeigi

ICRA 2024poster0 citations

A Generic Modeling Framework For the Design of Tendon-Driven Continuum Manipulators with Flexure Patterns

Yang Liu, Hansoul Kim, Yash Kulkarni, Farshid Alambeigi

Abstract

In this paper, a novel mathematical framework is introduced for modeling deformation behavior of Tendon-Driven Continuum Manipulators (TD-CMs) featuring discontinuous cross-sectional geometries (i.e., having flexural patterns). Leveraging this framework, we also introduce the concept of design space by which the deformation-behavior space of a TD-CM can intuitively be analyzed via its geometrical design parameters. To thoroughly evaluate the performance of the proposed modeling framework, we have conducted various simulation studies and experiments.

BibTeX

@inproceedings{icra2024_agenericmodeling,
  title = {A Generic Modeling Framework For the Design of Tendon-Driven Continuum Manipulators with Flexure Patterns},
  author = {Yang Liu and Hansoul Kim and Yash Kulkarni and Farshid Alambeigi},
  booktitle = {ICRA 2024},
  year = {2024}
}