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Reason: Under embargo until 30 March 2024. After this date a copy can be supplied under Section 51(2) of the Australian Copyright Act 1968 by submitting a document delivery request through your library
Design and Modelling of Tendon-Driven Continuum Robots Based on Pseudo-Rigid Body and Constraint Analysis
thesisposted on 2023-03-22, 03:06 authored by CHARLES TROEUNG
This research explores the design and modelling of tendon-driven continuum robots to improve performance in manipulation tasks. The key research contributions reported are: First, a novel continuum robot design that maintains the orientation of the end effector is proposed and built. Second, a quasi-static model of a planar tendon-driven continuum robot is investigated using the Pseudo-Rigid Body representation and constraint analysis approach. Third, a tendon-driven continuum robot is modelled by adapting the concept of deforming the control points of a Pythagorean Hodograph Curve.