A continuum manipulator made of interlocking fibers

Matthew S. Moses, Michael D M Kutzer, Hans Ma, Mehran Armand

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A new type of continuum manipulator is presented, in which the body of the device is made up of identical, repeated interlocking fibers. A working prototype is demonstrated. Basic models describing the kinematics and mechanical properties of the device are developed, and their predictions are compared with the performance of the physical prototype. Advantages of the interlocking design include improved strength due to better load distribution, controllable stiffness, and a large open lumen.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages4008-4015
Number of pages8
DOIs
StatePublished - 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

Fingerprint

Manipulators
Loads (forces)
Kinematics
Stiffness
Mechanical properties
Fibers

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Moses, M. S., Kutzer, M. D. M., Ma, H., & Armand, M. (2013). A continuum manipulator made of interlocking fibers. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 4008-4015). [6631142] https://doi.org/10.1109/ICRA.2013.6631142

A continuum manipulator made of interlocking fibers. / Moses, Matthew S.; Kutzer, Michael D M; Ma, Hans; Armand, Mehran.

Proceedings - IEEE International Conference on Robotics and Automation. 2013. p. 4008-4015 6631142.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Moses, MS, Kutzer, MDM, Ma, H & Armand, M 2013, A continuum manipulator made of interlocking fibers. in Proceedings - IEEE International Conference on Robotics and Automation., 6631142, pp. 4008-4015, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 5/6/13. https://doi.org/10.1109/ICRA.2013.6631142
Moses MS, Kutzer MDM, Ma H, Armand M. A continuum manipulator made of interlocking fibers. In Proceedings - IEEE International Conference on Robotics and Automation. 2013. p. 4008-4015. 6631142 https://doi.org/10.1109/ICRA.2013.6631142
Moses, Matthew S. ; Kutzer, Michael D M ; Ma, Hans ; Armand, Mehran. / A continuum manipulator made of interlocking fibers. Proceedings - IEEE International Conference on Robotics and Automation. 2013. pp. 4008-4015
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