Modular Continuum Manipulator: Analysis and Characterization of Its Basic Module.

ABSTRACT: We present the basic module of a modular continuum arm (soft compliant manipulator for broad applications (SIMBA)). SIMBA is a robotic arm with a hybrid structure, namely a combination of rigid and soft components, which makes the arm highly versatile, dexterous, and robust. These key features are due to the design of its basic module, which is characterized by a three-dimensional workspace with a constant radius around its rotation axis, large and highly repeatable bending, complete rotation, and passive stiffness. We present an extensive analysis and characterization of the basic module of the SIMBA arm in terms of design, fabrication, kinematic model, stiffness, and bending behavior. All the theoretical models presented were validated with empirical results. Our findings show a position

SUBMITTER: Mishra AK 

PROVIDER: S-EPMC6352674 | biostudies-literature | 2018 Feb

REPOSITORIES: biostudies-literature