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학술지 Design of a Discrete Bending Joint Using Multiple Unit PREF Joints for Isotropic 2-DOF Motion
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저자
서정욱, 김기영
발행일
201702
출처
International Journal of Control, Automation and Systems, v.15 no.1, pp.64-72
ISSN
1598-6446
출판사
제어로봇시스템학회 (ICROS), 대한전자공학회 (IEIE), Springer
DOI
https://dx.doi.org/10.1007/s12555-016-0474-z
협약과제
17ZD1300, 대경권 지역기반 스마트 의료ICT 융복합 중소기업 활성화 사업, 최은창
초록
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 제안 키워드
2-DOF, Bending joint, Design method, End-effector, Evaluation criteria, Medical Applications, Radius of curvature, Rolling joints, Segmental joint, Small bending radius, Stacking sequences