Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes

Concentric tube robots experience elastic instability when the potential energy stored in torsional twisting of the tubes is suddenly released. To date, ensuring stability for all possible rotational configurations has involved constraining the precurvatures and / or precurved lengths of the tubes c...

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Veröffentlicht in:	IEEE robotics and automation letters 2017-01, Vol.2 (1), p.298-304
Hauptverfasser:	Junhyoung Ha, Dupont, Pierre E.
Format:	Artikel
Sprache:	eng
Schlagworte:	Boundary conditions Concentric tube robot elastic stability Electron tubes Laser stability Mathematical model Potential energy Robots Stability analysis
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