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Continuum Flexible Robot with Multiple Curvature

Title
Continuum Flexible Robot with Multiple Curvature
Translated Title
여러 곡률을 갖는 연속체로 이루어진 휘어지는 로봇
Authors
Bak, Seong Ho
DGIST Authors
Bak, Seong Ho; Hong, Jae Sung
Advisor(s)
Hong, Jae Sung
Co-Advisor(s)
Joung, Sang Hyun
Issue Date
2016
Available Date
2016-08-18
Degree Date
2016. 8
Type
Thesis
Keywords
continuum flexible robotcurvaturecurvature ratiokinematics연속체로 된 휘어지는 로봇곡률곡류 비기구학
Abstract
The continuum flexible robots are used at various fields due to characteristics of relatively more flexible than conventional rigid link-joint robots. Among many applications, this paper researches of the continuum flexible robot which can be apply with ballooning orbital floor blowout surgery. When the balloon support the fracture under the fractured orbital floor, the completeness of the surgery grows though this procedure can be performed by highly trained few surgeons. The core problem is the tip of the robot should bend most to get into the side pathway in narrow space by 1-DOF. The conventional flexible robots suppose it has equal curvature in entire flexible part or are got restrict of their structures for constant curvatures. For supplementing those problems, this paper designed the continuum flexible robot which has larger curvatures at the tip without increasing the number of actuators and analyzed the curvature ratio, the curvature according to the length of pulled wires and kinematics. The continuum flexible robot was tested by pulled wire from 0mm to 15mm and then was compared with measured value and estimated value. ⓒ 2016 DGIST
Table Of Contents
I. INTRODUCTION-- 1.1 Orbital floor blowout-- 1.2 Previous researches of the flexible robot-- 1.3 Research contents and goal-- II. DESIGN-- 2.1 Flexible part-- 2.2 Driving part-- 2.3 Electronic devices-- III. KINEMATICS ANALYSIS-- 3.1 Relationship between l_pull and c_p, c_d, Φ-- 3.1.1 Kinematics model of each springs-- 3.1.2 Stress analysis and relationship of the spring constant k and the curvature of a spring c-- 3.1.3 Wire length of the compressed part of spring in proximal part l_(i,p) and distal part l_(i,d)-- 3.1.4 Calculate the curvature and the angle of curvature Φ by two adjacent wire-- 3.2 Relationship between c_p, c_d, Φ and θ, d-- 3.3 Relationship between c, Φ and θ, d-- IV. EXPERIMENTS AND RESULTS-- 4.1 Experiment method-- 4.2 Comparing estimated value and measured value-- V. DISCUSSION AND CONCLUSION
URI
http://www.dcollection.net/handler/dgist/000002296337
http://hdl.handle.net/20.500.11750/988
DOI
10.22677/thesis.2296337
Degree
Master
Department
Robotics Engineering
University
DGIST
Files:
Collection:
Robotics EngineeringThesesMaster


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