Kinetostatics for variable cross-section continuum manipulators
Han Yuan Zuan Li Wenfu Xu Han Yuan Zuan Li Wenfu Xu
Continuum manipulators have shown a wide range of applications due to their inherent compliance and dexterity. At present, the cross-sectional dimension of these manipulators is often kept constant, which facilitates the design, fabrication and modeling processes. The famous piecewise-constant-curvature (PCC) assumption is widely used in the kinematics and motion control. By contrast, most natural...