Modeling tendon-sheath mechanism with flexible configurations for robot control

• Main Authors: Wang, Zheng, Sun, Zhenglong, Phee, Soo Jay
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2014
• Subjects: DRNTU::Engineering::Mechanical engineering::Robots
• Online Access: https://hdl.handle.net/10356/101413; http://hdl.handle.net/10220/18669
• Institution: Nanyang Technological University

Surgical and search/rescue robots oftenwork in environments with very strict spatial constraints. The tendon-sheath mechanism is a promising candidate for driving such systems, allowing power sources and actuation motors placed outside to transmit force and energy to the robot at the distal end...