Impact of Generic Tendon Routing on Tension Loss of Tendon-Driven Continuum Manipulators with Planar Deformation.

ABSTRACT: We present a novel physically-intuitive mathematical formulation to investigate the effects of a fully-constrained generic tendon routing (GTR) on the correlation between tension loss and deformation behavior of a variable-curvature tendon-driven continuum manipulator (TD-CM). The proposed model can account for distributed friction forces/moments along a GTR path that have been typically ignored in the previous approaches (e.g., the well-known frictionless Cosserat rod model). For the first time, the internal distributed forces on a GTR are expressed using three physically-intuitive generic functions. Solely relying on the known actuation input(s), the proposed mathematical formulation can also solve the entangled and unknown correlation between GTR, internal distributed forces, tension lo

SUBMITTER: Liu Y 

PROVIDER: S-EPMC9415037 | biostudies-literature | 2022 Apr

REPOSITORIES: biostudies-literature