Fabrication and Image Servo Tracking Study of a Continuum Robot Prototype

Abstract

This study presents the design and implementation of a continuum manipulator associated with connected continuum kinematic modules (CKMs) to ease the fabrication of a continuum robot with multiple degrees of freedom. Theproposed CKM consists of five sequential circular plates connected by universal joints, individual actuated tension cables surrounded by compression springs. All tension cables are controlled via linear actuators at a distal site. Consequently, a continuum robot is formed with three CKMs to demonstrate the feasibility of the proposed CKM via the Jacobian-based image servo tracking tasks. Finally, quantitative tracking error analyses are provided for the evaluation of the overall performance.