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Dynamic modeling for a continuum robot with compliant structure

Research output: Contribution to journalConference paper

Yong Guo, Rongjie Kang, Lisha Chen, Jian Dai

Original languageEnglish
Article numberDETC2015-46683
Pages (from-to)V05AT08A013
Number of pages8
JournalProceedings of ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering
Volume5A
Issue number39
DOIs
Publication statusPublished - 5 Aug 2015
EventASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States
Duration: 2 Aug 20155 Aug 2015

Bibliographical note

ISBN: 978-0-7918-5712-0

King's Authors

Abstract

Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance and safety. However, the modeling and control of such robots are complex in comparison with conventional rigid ones. This paper presents the design of a pneumatically actuated continuum robot. A 3-dimensional dynamic model is then developed by using the mass-damper-spring system based networks, in which elastic deformation, actuating forces and external forces are taken into account. The model is validated by experiments and shows good agreement with the robotic prototype.

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