Title :
A continuum manipulator made of interlocking fibers
Author :
Moses, Matthew S. ; Kutzer, Michael D. M. ; Ma, Hui ; Armand, Mehran
Author_Institution :
Johns Hopkins Univ. Appl. Phys. Lab., Laurel, MD, USA
Abstract :
A new type of continuum manipulator is presented, in which the body of the device is made up of identical, repeated interlocking fibers. A working prototype is demonstrated. Basic models describing the kinematics and mechanical properties of the device are developed, and their predictions are compared with the performance of the physical prototype. Advantages of the interlocking design include improved strength due to better load distribution, controllable stiffness, and a large open lumen.
Keywords :
design engineering; fibres; load distribution; manipulator kinematics; manipulators; continuum manipulator; controllable stiffness; interlocking design; interlocking fibers; kinematics; load distribution; mechanical properties; Electron tubes; Force; Kinematics; Manipulators; Motion measurement; Prototypes; Structural beams;
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
Print_ISBN :
978-1-4673-5641-1
DOI :
10.1109/ICRA.2013.6631142
