Publication

Hanyang University HumanRobotics Lab

Domestic Journal
스프링 구조를 이용한 4자유도 연속체 로봇의 개발
Journal
로봇학회논문지
Vol
Vol. 3, No.4
Page
pp. 323-330
Author
윤현수, 이병주
Year
2008
Date
2008
File
스프링 구조를 이용한 4자유도 연속체 로봇의 개발.pdf (984.4K) 0회 다운로드 DATE : 2020-10-16 22:22:47
Abstract: This work deals with a 4-DOF flexible continuum robot that employs a spring as its backbone. The mechanism consists of two modules and each module has 2 DOF. The special features of the proposed mechanism are the flexibility and the backdrivability of the whole body by using a spring backbone. Thus, even in the case of collision with human body, this device can ensure safety. The design and the kinematics for this continuum mechanism are introduced. The performance of this continuum mechanism was shown through simulation and experiment.