Optimization of Stress Distribution in Tendon-Driven Continuum Robots Using Fish-Tail-Inspired Method

Tendon-driven continuum robots are widely used in different engineering disciplines due to their simple structure and high flexibility. The typical structure of a tendon-driven continuum robot usually contains a series of identical compliant joints in its backbone to achieve large-deflection bending...

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Veröffentlicht in:	IEEE robotics and automation letters 2022-04, Vol.7 (2), p.3380-3387
Hauptverfasser:	Sun, Yilun, Liu, Yuqing, Lueth, Tim C.
Format:	Artikel
Sprache:	eng
Schlagworte:	Backbone Bending Biomimetics compliant joints and mechanisms Crack propagation Deflection Fatigue failure Finite element analysis flexible robotics Joints (anatomy) Optimization Robots Shape Stress Stress distribution tendon/wire mechanism Tendons
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