METABot - Magnetic Extensible Tendon Actuated Continuum Robot

Amanov, E; Nguyen, Thien-Dang; Burgner-Kahrs, J
DGR Days (German Society of Robotics), 2016
METABot - Magnetic Extensible Tendon Actuated Continuum Robot

Abstract


Continuum manipulators possess the ability tomove along nonlinear paths and avoid obstacles in confinedenvironments. However, existing designs have some inherentrestrictions: limited range of curvatures or fixed segmentlengths. Hence, to achieve motion along a tortuous path ina confined environment in a follow-the-leader manner requiresthoughtful a priori design parameter selection. As a result,follow-the-leader motion is only achievable for a limited numberof cases. Here, we present a novel miniaturized (7 mm diameter)tendon-driven manipulator design with extensible segments(METABot) enabling follow-the-leader movement.

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