Design of FDM-printable tendon-driven continuum robots using a serial S-shaped backbone structure
Tendon-driven continuum robots (TDCR) are widely used in various engineering disciplines due to their exceptional flexibility and dexterity. However, their complex structure often leads to significant manufacturing costs and lengthy prototyping cycles. To cope with this problem, we propose a fused-d...
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| Format: | Article |
| Language: | English |
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Elsevier
2025-03-01
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| Series: | Biomimetic Intelligence and Robotics |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2667379724000469 |
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| author | Kaidi Zhu Tim C. Lueth Yilun Sun |
| author_facet | Kaidi Zhu Tim C. Lueth Yilun Sun |
| author_sort | Kaidi Zhu |
| collection | DOAJ |
| description | Tendon-driven continuum robots (TDCR) are widely used in various engineering disciplines due to their exceptional flexibility and dexterity. However, their complex structure often leads to significant manufacturing costs and lengthy prototyping cycles. To cope with this problem, we propose a fused-deposition-modeling-printable (FDM-printable) TDCR structure design using a serial S-shaped backbone, which enables planar bending motion with minimized plastic deformation. A kinematic model for the proposed TDCR structure based on the pseudo-rigid-body model (PRBM) approach is developed. Experimental results have revealed that the proposed kinematic model can effectively predict the bending motion under certain tendon forces. In addition, analyses of mechanical hysteresis and factors influencing bending stiffness are conducted. Finally, A three-finger gripper is fabricated to demonstrate a possible application of the proposed TDCR structure. |
| format | Article |
| id | doaj-art-64f6424ee06c40619dc4e7886403443c |
| institution | Kabale University |
| issn | 2667-3797 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Biomimetic Intelligence and Robotics |
| spelling | doaj-art-64f6424ee06c40619dc4e7886403443c2025-01-16T04:29:24ZengElsevierBiomimetic Intelligence and Robotics2667-37972025-03-0151100188Design of FDM-printable tendon-driven continuum robots using a serial S-shaped backbone structureKaidi Zhu0Tim C. Lueth1Yilun Sun2Institute of Micro Technology and Medical Device Technology, Technical University of Munich, Garching 85748, GermanyInstitute of Micro Technology and Medical Device Technology, Technical University of Munich, Garching 85748, GermanyCorresponding author.; Institute of Micro Technology and Medical Device Technology, Technical University of Munich, Garching 85748, GermanyTendon-driven continuum robots (TDCR) are widely used in various engineering disciplines due to their exceptional flexibility and dexterity. However, their complex structure often leads to significant manufacturing costs and lengthy prototyping cycles. To cope with this problem, we propose a fused-deposition-modeling-printable (FDM-printable) TDCR structure design using a serial S-shaped backbone, which enables planar bending motion with minimized plastic deformation. A kinematic model for the proposed TDCR structure based on the pseudo-rigid-body model (PRBM) approach is developed. Experimental results have revealed that the proposed kinematic model can effectively predict the bending motion under certain tendon forces. In addition, analyses of mechanical hysteresis and factors influencing bending stiffness are conducted. Finally, A three-finger gripper is fabricated to demonstrate a possible application of the proposed TDCR structure.http://www.sciencedirect.com/science/article/pii/S2667379724000469Continuum robotFDM printingTendon-driven mechanismMechanics modeling |
| spellingShingle | Kaidi Zhu Tim C. Lueth Yilun Sun Design of FDM-printable tendon-driven continuum robots using a serial S-shaped backbone structure Biomimetic Intelligence and Robotics Continuum robot FDM printing Tendon-driven mechanism Mechanics modeling |
| title | Design of FDM-printable tendon-driven continuum robots using a serial S-shaped backbone structure |
| title_full | Design of FDM-printable tendon-driven continuum robots using a serial S-shaped backbone structure |
| title_fullStr | Design of FDM-printable tendon-driven continuum robots using a serial S-shaped backbone structure |
| title_full_unstemmed | Design of FDM-printable tendon-driven continuum robots using a serial S-shaped backbone structure |
| title_short | Design of FDM-printable tendon-driven continuum robots using a serial S-shaped backbone structure |
| title_sort | design of fdm printable tendon driven continuum robots using a serial s shaped backbone structure |
| topic | Continuum robot FDM printing Tendon-driven mechanism Mechanics modeling |
| url | http://www.sciencedirect.com/science/article/pii/S2667379724000469 |
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