Description
This book focuses on mechanical and electric designing, body shape sensing and tip motion control of various types of light slender robots based on tendon-sheath transmission. From the theoretical concise figures and practical examples of tendon-sheath transmitted mechanisms illustrated succinctly and clearly with 3D color drawings in this book, the proposed readers, including the researchers and students, might get inspirations in their own robotic system design or just following this book to build their own tendon-sheath actuated light slender robotic systems.
Table of Contents
Introduction.- Tendon-Sheath Transmission System.- Transmission Characteristics of Tendon-sheath System.- Transmission Model of Tendon-sheath System.- Control of Tendon-sheath Transmission Mechanism.- Mechanism of Tendon-Sheath Transmitted Slender Robots.- Geometry Estimation of Tendon-Sheath Transmitted Slender Robots.- Tendon-Sheath Transmitted Slender Robots for Detection and Rescue.- Tendon-Sheath Transmitted NOTES Robots.- Tendon-Sheath Transmitted Soft Light Exoskeletons.- Current Issues & Future Perspective.
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