Concentric-tube continuum robots feature with simple and compact structures and have a great potential in medical applications. The paper is concerned with the shape modeling of a type of concentric-tube continuum robot built with a collection of super-elastic NiTiNol tubes. The mechanics is modeled on the basis of energy approach for both the in-plane and out-plane cases. The torsional influences on the shape of the concentric-tube robots are considered. An experimental device was build for the model validation. The results of simulation and experiments are included and analyzed.
Proceedings of the 2012 Ieee International Conference on Robotics and Biomimetics (robio 2012), December 11-14, 2012, Guangzhou, China, 2012, p. 116-121
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2012 IEEE International Conference on Robotics and Biomimetics, 2012