Theoretical model of a continuum manipulator

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Authors
Basu, Shaunak
Issue Date
2020-12
Type
Electronic thesis
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Language
en_US
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Computer science
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Abstract
Continuum manipulators have a higher degree of maneuverability in constrained environments compared to conventional robots. Unconventional actuators along with soft structures increases their flexibility and make them favourable for uncertain environments. Different types of continuum manipulators are available which are modeled differently. In this work, we present a theoretical model which has been inspired by muscular hydrostats. We focus on one such muscular hydrostat, the elephant trunk and try to emulate its behaviour. We formulate the forward kinematics of our model and explore the inverse kinematics along with other relevant characteristics.
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December 2020
School of Science
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Rensselaer Polytechnic Institute, Troy, NY
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