Design and Analysis of a Multi-Section Wire-driven Continuum Robot System with Variable Structures

Abstract

In recent years, researches with bionic robots have been well produced and developed thanks to the emergence of bionics. It showed great potential and prospect in the field of surgical robot. In this paper we proposed a novel design and analysis of a multi-section wire-driven continuum robot with variable structures. In the proposed design, distances between adjacent joints are variable with different sections. By changing the structure parameters of the joints, control accuracy of the tip end can be improved while ensuring the moving range of the robot. Kinematics model with both forward and inverse have been deducted. Workspace of the robot tip has been analyzed. Prototype has been built and tested with experiments, and results proved the accuracy of the robot.