Kinematics and Dynamics Modeling and Analysis of Line-Driven Continuum Robot

摘要

Continuum robots are usually made of flexible materials. In theory, there can be an infinite number of degrees of freedom. There are no discrete joints and rigid links. Therefore, they have good flexibility, sensitivity and operability, and can adapt to small space operations and highly nonlinear structured environment operations. In this paper a two-joint decoupling kinematics analysis method for a line-driven continuum robots with four drive lines is proposed. The end position and the length of the driving line of the single-joint and two-joint manipulators are simulated experimentally, and the feasibility of the proposed decoupling kinematics analysis is verified.