Developing a Kinematically Similar Master Device for Extensible Continuum Robot Manipulators | Zendy

Chase G. Frazelle | Zendy; Apoorva Kapadia | Zendy; Ian D. Walker | Zendy

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Developing a Kinematically Similar Master Device for Extensible Continuum Robot Manipulators

Author(s) -

Chase G. Frazelle,

Apoorva Kapadia,

Ian D. Walker

Publication year - 2018

Publication title -

journal of mechanisms and robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.591

H-Index - 45

eISSN - 1942-4310

pISSN - 1942-4302

DOI - 10.1115/1.4039075

Subject(s) - teleoperation , robot , extensibility , computer science , degrees of freedom (physics and chemistry) , kinematics , control theory (sociology) , control engineering , simulation , engineering , physics , artificial intelligence , classical mechanics , control (management) , quantum mechanics , operating system

We introduce a novel input device for the teleoperation of extensible continuum robots. As opposed to previous works limited by kinematically dissimilar master devices or restricted degrees-of-freedom (DoF), a kinematically similar input device capable of 9DoF is designed and used. The device is capable of achieving configurations identical to a three-section continuum robot and simplifies the teleoperation of such manipulators. In this paper, we outline the design of the input device and its construction. Implementation of the new master device and its effectiveness in regulating a physical system is also discussed.

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