스프링 구조를 이용한 4자유도 연속체 로봇의 개발 = Development of a 4-DOF Continuum Robot Using a Spring Backbone

다국어 초록 (Multilingual Abstract)

This work deals with a 4-DOF flexible continuum robot that employs a spring as its backbone. The mechanism consists of two modules and each module has 2 DOF. The special features of the proposed mechanism are the flexibility and the backdrivability of the whole body by using a spring backbone. Thus, even in the case of collision with human body, this device can ensure safety. The design and the kinematics for this continuum mechanism are introduced. The performance of this continuum mechanism was shown through simulation and experiment.

참고문헌 (Reference)

1 R. J. Webster III, "Toward active cannulas:miniauture snake-like surgical robots" 2857-2863, 2006

2 S.-S. Yoon, "Safe arm with MR-based passive compliant joints and viscous-elastic covering for service robot applications" 2191-2196, 2003

3 J.-J. Park, "Safe Joint Mechanism based on Passive Compliance for Collision Safety" 473-478, 2007

4 A.A. Maciejewsky, "Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments" 4 (4): 109-117, 1985

5 M. W. Hannan, "Novel kinematics for continuum robots" 227-238, 2000

6 I.A. Gravagne, "Manipulability, force, and compliance analysis for planar continuum manipulators" 18 (18): 263-273, 2002

7 B. A. Jones, "Kinematics for multi section continuum robots" 22 (22): 43-57, 2006

8 M.W. Hannan, "Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots" 45-63, 2003

9 Mitchell W. Pryor, "Generalized Software Components for Reconfiguring Hyper-Redundant Manipulators" 7 (7): 475-478, 2002

10 D.-G. Choi, "Design of a Spring Backbone Micro Endoscope" 1815-1821, 2007

11 M. W. Hannan, "Analysis and initial experiments for a novel elephant’s trunk robot" 330-337, 2000

12 P. Sears, "A steerable needle technology using curved concentric tubes" 2850-2856, 2006