文献类型：期刊文献

英文题名：Study on stretch-retractable single-section continuum manipulator

作者：Gao, Guohua[1];Wang, Hao[1];Fan, Jinwei[1];Xia, Qixiao[2];Li, Lianshi[1];Ren, Han[1]

第一作者：Gao, Guohua

通讯作者：Xia, QX[1]

机构：[1]Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, Beijing, Peoples R China;[2]Beijing Union Univ, Coll Mech & Elect Engn, Beijing 100020, Peoples R China

第一机构：Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, Beijing, Peoples R China

通讯机构：[1]corresponding author), Beijing Union Univ, Coll Mech & Elect Engn, Beijing 100020, Peoples R China.|[1141739]北京联合大学机器人学院;[11417]北京联合大学;

年份：2019

卷号：33

期号：1

起止页码：1-12

外文期刊名：ADVANCED ROBOTICS

收录：;EI(收录号：20185006238154);Scopus(收录号：2-s2.0-85058159695);WOS:【SCI-EXPANDED(收录号:WOS:000457596500001)】；

基金：This work was supported by the National Natural Science Foundation of China [grant number 51675011].

语种：英文

外文关键词：Stretch-retractable structure; continuum manipulator; kinematic; trajectory planning

摘要：This paper proposes a stretch-retractable single-section (SRSS) continuum manipulator. Its backbone is composed by a series of springs. Thus, this continuum manipulator owns feature of a large-scale stretch-retractable ability. With such a feature, different from traditional single-section continuum manipulator which distal end moves in a curved surface, the presented manipulator's distal end has a solid work space. The kinematic model including the variable parameter of backbone length was established, and the stretch-retractable workspace was analyzed, with which the driving strategy was proposed. The prototype was made out based on the concept of the large-scale stretch-retractable backbone. The driving patterns with single parameter input and the driving patterns with multi parameter inputs were carried out. The tests verified the presented SRSS continuum manipulator.