Planar interpolated inverse statics for a tendon-driven discrete continuum robot unit with a ball socket joint and superelastic Nitinol rods

摘要

A tendon-driven discrete continuum robot unit, equipped with a superelastic Nitinol rod and a ball socket joint, exhibits high bending stiffness. Two Nitinol rods are incorporated through the units to ensure uniform bending. The friction between the ball and socket joint, combined with the reinforced stiffness provided by the superelastic Nitinol rods, complicates the exact analysis of inverse statics. In this study, experiments are conducted to investigate the planar inverse statics of a tendon-driven discrete continuum robot unit with a superelastic Nitinol rod. The data obtained from these experiments is analyzed for further research.