The International Journal of Robotics Study, Ahead of Publish.
Numerous techniques and frameworks arised just recently to create continuum robotics. Among one of the most appealing styles concerns a brand-new idea of continuum concentric press– draw robotics (CPPRs) that have the quality of integrating numerous vital benefits of ligament activated, multi-backbone, and concentric tube ones (straight curvature actuation, little outer/inner size proportion, cost-free lumen, and so on). Geometrically-exact versions of such just recently presented robotics are yet to be created to obtain utilize of their complete capacity. This write-up expands past normal meanings of Cosserat pole concept in order to take into consideration this brand-new sort of continuum robotics, comprised by moving poles, in a form of tubes whose cross-sections are neither consistent neither balanced along their whole size. The presented version can taking into consideration functional style alternatives, outside lots, 3D contortions, an approximate variety of tubes and accounts of the centroid lines, in addition to a brand-new actuation technique containing an input turning. Mathematical simulations and experiments on CPPR models confirm our version.
发布者：Matthias Tummers，转转请注明出处：https://robotalks.cn/continuum-concentric-push-pull-robots-a-cosserat-rod-model/
