Influence of Antagonistic Tensions on Distributed Friction Forces of Multisegment Tendon-Driven Continuum Manipulators With Irregular Geometry.

ABSTRACT: In this paper, we thoroughly analyze the effect of single-tendon and antagonistic tendons actuation on tension loss of multi-segment tendon-driven continuum manipulators (TD-CMs) with irregular geometry. To this end, we propose a generic analytical modeling approach and iterative algorithm that can solve the unknown correlation between distributed friction force, tendons' tension transmission loss, and planar deformation behavior of TD-CMs during tendons' pulling and releasing phases. The proposed generic model solely relies on known input tendons' tensions and does not require a priori knowledge of the manipulator's shape and/or other experimental conditions. To investigate the influence of actuation type on tension loss and deformation behavior of TD-CMs, we fabricated two differe

SUBMITTER: Liu Y 

PROVIDER: S-EPMC9629251 | biostudies-literature | 2022 Oct

REPOSITORIES: biostudies-literature