Modal Dynamic Modelling and Experimental Validation of a Curved Extensible Continuum Manipulator
Hao Wang Xuping Zhang Hao Wang Xuping Zhang
This study presents a novel dynamic modelling method for analyzing the modal properties of a curved extensible continuum manipulator (ECM). Considering the variable bending angle and the length, the kinematic and static models are firstly established for descripting the geometric posture deformation and deflection generated by gravity. Then, the modal dynamic model is developed along the centerlin...