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A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control

1
Graduate School of Science and Technology, Tokai University, 4-1-1 Kitakaname, Kanagawa-ken 259-1292, Japan
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Department of Robotics and Engineering tools of Automation, Satpayev University, Satpayev street 22a, Almaty 050000, Kazakhstan
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Department of Mechanical Engineering, Tokai University, 4-1-1 Kitakaname, Kanagawa-ken 259-1292, Japan
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Department of Precision Engineering, Tokai University, 4-1-1 Kitakaname, Kanagawa-ken 259-1292, Japan
*
Author to whom correspondence should be addressed.
Robotics 2019, 8(3), 51; https://doi.org/10.3390/robotics8030051
Received: 6 June 2019 / Revised: 21 June 2019 / Accepted: 2 July 2019 / Published: 4 July 2019
(This article belongs to the Section Robotics & Automation)
Wire-driven continuum manipulators are gaining more attention due to their flexibility and dexterity features. In comparison with traditional manipulators, the continuum structure is compliant and safe for human tissue and is able to easily adapt to the unstructured environment. Despite its advantages, wire-driven mechanisms have a serious problem with tension. While pushing and pulling, the wire loses tension, which leads to an ineffective way of driving the pulleys. Therefore, in this research, we propose a novel discrete continuum robot arm with a passive pre-tension mechanism that avoids the wire tension problem. Moreover, this paper will describe the backbone design of the discrete continuum arm and pre-tension mechanism structure, as well as forward and inverse kinematics and kinetic solutions, with simulation results.
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Keywords: discrete continuum arm; pre-tension mechanism; sliding backbone; design; kinematics discrete continuum arm; pre-tension mechanism; sliding backbone; design; kinematics
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MDPI and ACS Style

Yeshmukhametov, A.; Koganezawa, K.; Yamamoto, Y. A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control. Robotics 2019, 8, 51.

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