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A Space Tendon-Driven Continuum Robot

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Advances in Swarm Intelligence (ICSI 2018)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 10942))

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Abstract

In order to avoid the collision of space manipulation, a space continuum robot with passive structural flexibility is proposed. This robot is composed of two continuum joints with elastic backbone and driving tendons made of NiTi alloy. The kinematic mapping and the Jacobian matrix are obtained through the kinematic analysis. Moreover, an inverse kinematics based closed-loop controller is designed to achieve position tracking. Finally, a simulation and an experiment is carried out to validate the workspace and control algorithm respectively. The results show that this robot can follow a given trajectory with satisfactory accuracy.

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Acknowledgments

This work was supported by the National Natural Science Foundation of China (Grant No. 51721003 and 51535008).

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Authors and Affiliations

  1. Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, 300072, China

    Shineng Geng, Cong Wang & Rongjie Kang

  2. Beijing Institute of Spacecraft System Engineering CAST, Beijing, 100086, China

    Youyu Wang

Authors
  1. Shineng Geng
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  2. Youyu Wang
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  3. Cong Wang
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  4. Rongjie Kang
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Corresponding author

Correspondence to Rongjie Kang .

Editor information

Editors and Affiliations

  1. Peking University, Beijing, China

    Ying Tan

  2. Southern University of Science and Technology, Shenzhen, China

    Yuhui Shi

  3. Tongji University, Shanghai, China

    Qirong Tang

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Geng, S., Wang, Y., Wang, C., Kang, R. (2018). A Space Tendon-Driven Continuum Robot. In: Tan, Y., Shi, Y., Tang, Q. (eds) Advances in Swarm Intelligence. ICSI 2018. Lecture Notes in Computer Science(), vol 10942. Springer, Cham. https://doi.org/10.1007/978-3-319-93818-9_3

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  • DOI: https://doi.org/10.1007/978-3-319-93818-9_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-93817-2

  • Online ISBN: 978-3-319-93818-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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