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Journal Article Design of a Discrete Bending Joint Using Multiple Unit PREF Joints for Isotropic 2-DOF Motion
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Authors
Jung-wook Suh, Ki-young Kim
Issue Date
2017-02
Citation
International Journal of Control, Automation and Systems, v.15, no.1, pp.64-72
ISSN
1598-6446
Publisher
제어로봇시스템학회 (ICROS), 대한전자공학회 (IEIE), Springer
Language
English
Type
Journal Article
DOI
https://dx.doi.org/10.1007/s12555-016-0474-z
Project Code
17ZD1300, Smart medical ICT fusion SME activation project based on Daegu-Gyeongbuk area, Choi Eun Chang
Abstract
Miniature steerable robots are required for various medical applications. Although a typical continuum joint mechanism has a great advantage of miniaturization, it is difficult to have a small bending radius of curvature. With a discrete joint, it is easy to secure definite bending with strength; however, a coarsely structured joint cannot provide a stable distal rolling motion to the end-effector. This paper proposes a method to construct a 2-DOF discrete bending joint using multiple pulleyless rolling joints with an example of a 4-segmental joint. The effects of the stacking sequence on its performance are analyzed. Then, three evaluation criteria are established, and the best stacking sequences are determined. The proposed design method is valid for various numbers of unit joints, and it can be easily applied to the structural design of soft robots resembling snakes or elephant trunks.
KSP Keywords
2-DOF, Bending joint, Design method, End-effector, Evaluation criteria, Medical Applications, Radius of curvature, Rolling joints, Segmental joint, Small bending radius, Soft robots