Cosserat Rod-Based Tendon Friction Modeling, Simulation, and Experiments for Tendon-Driven Continuum Robots
Traditional tendon-driven continuum robot (TDCR) models based on Cosserat rod theory often assume that tendon tension is a continuous wrench along the backbone. However, this assumption overlooks critical factors, including the discrete arrangement of disks, the segmented configuration of tensioned...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-03-01
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| Series: | Micromachines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-666X/16/3/346 |
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