Dissertation/Thesis Abstract

Design, construction, inverse kinematics, and visualization of continuum robots
by Neppalli, Srinivas, M.S., Mississippi State University, 2008, 85; 1459824
Abstract (Summary)

Continuum robots are the biologically inspired robots that mimic the behaviors of mammalian tongues, elephant trunks, and octopus arms.

The drawbacks of two existing designs are examined and a new mechanical design that uses a single latex rubber tube as the central member is proposed, providing a design that is both simple and robust. Next, a novel verification procedure is applied to examine the validity of the proposed model in two different domains of applicability. A two-level electrical control scheme enables rapid prototyping and can be used to control the continuum robot remotely. Next, a new geometrical approach to solve inverse kinematics for continuum type robot manipulators is introduced. Given the tip of a three section robot, a complete inverse kinematics solution is obtained. Finally, the techniques involved in visualization of AirOctor/OctArm in 3D space in real-time are discussed. The algorithm has been tested with several system topologies.

Indexing (document details)
Advisor: Jones, Bryan A., Hansen, Eric A.
Commitee: Morris, Thomas H.
School: Mississippi State University
Department: Electrical and Computer Engineering
School Location: United States -- Mississippi
Source: MAI 47/02M, Masters Abstracts International
Source Type: DISSERTATION
Subjects: Robotics
Keywords: Biologically inspired robots, Continuum manipulators, Inverse kinematics
Publication Number: 1459824
ISBN: 9780549894988
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