New Cable-Driven Continuum Robot with Only One Actuator

Zhongning Jiang, Yuanxin Luo, Yan Jin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)
565 Downloads (Pure)

Abstract

This paper presents a new cable-driven continuum robot by using the time-based control method with only one actuator. The continuum robot consists of 3 sections, and each section has 2-DOFs. It is driven by a constant speed motor connected to a series of electromagnetic clutches. the clutches will be activated for providing the motion of the cables. A new time-based control method named 'Time Width Modulation' is proposed to control the continuum robot. Kinematics and workspace analyses are carried out. A prototype is built up and experimental results demonstrate the effectiveness of the proposed design and control method.
Original languageEnglish
Title of host publication2017 IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2017 and IEEE Conference on Robotics, Automation and Mechatronics, RAM 2017 - Proceedings
Publisher IEEE
Pages693-698
Number of pages6
ISBN (Electronic)9781538631355
ISBN (Print)9781538631355
DOIs
Publication statusEarly online date - 01 Feb 2018
Event8th IEEE International Conference on Cybernetics and Intelligent Systems (CIS) & Robotics, Automation and mechatronics (RAM) - Pan Pacific Ningbo Hotel, Ningbo, China
Duration: 19 Nov 201721 Nov 2017
http://www.cis-ram.org/2017/

Publication series

NameIEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM): Proceedings
PublisherIEEE
ISSN (Electronic)2326-8239

Conference

Conference8th IEEE International Conference on Cybernetics and Intelligent Systems (CIS) & Robotics, Automation and mechatronics (RAM)
Abbreviated titleCIS-RAM 2017
CountryChina
CityNingbo
Period19/11/201721/11/2017
Internet address

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