Review paper

Three-Dimensional Dynamics for Cable-Driven Soft Manipulator

Volume: 22, Issue: 1, Pages: 18 - 28
Published: Feb 1, 2017
A soft manipulator usually has infinite joints. The infinite DOFs of a soft manipulator make it impossible to build the mechanical model like traditional rigid manipulator. The dynamic model based on circular arcs assumption, proposed by previous literature, does not take torsion into consideration. The introduction of torsion to piecewise constant curvature assumption could improve accuracy for 3-D motion, but it still cannot deal with problems...
Paper Details
Three-Dimensional Dynamics for Cable-Driven Soft Manipulator
Published Date
Feb 1, 2017
18 - 28
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