Design Control and Fabrication for Continuum Robot with Embedded Sensors
The purpose of this project is to present a novel hybrid pre-tension mechanism for continuum manipulators to prevent wire slack and improve continuum robot payload capacity, as well as to present a new method to control continuum manipulators’ shape. The Continuum robot, aka snake robot, aka elephant's trunk robot with 3DOF. It uses three servo motors to pull three strings. In this project we will used compression spring in the centre of the trunk to provide rigidity. This robot looks really strange, almost disgusting
Control Design and Fabrication for a Parallel Continuum Robots
This project presents a parallel continuum robots which they are new mechanisms that are expected to combine dexterity and manipulability of continuum robots with accuracy and stiffness of parallel robots. The parallel coupling of several serial-kinematic chains in parallel kinematic manipulators result in both, high dynamics and high accuracy. The architecture of these manipulators also has disadvantages such as a relatively small workspace and increased occurrence of singularities. On the other hand, continuum robots consist of flexible or soft materials and exhibit a high number of degrees of freedom, which leads to high dexterity and advanced motion capabilities. In contrast to conventional serial robots, their structure is very compliant, which leads to limited manipulation forces.
A Rotary Stewart Platform Robot: Control Design and Fabrication
The purpose of this project is to involve the design and programming of a six-degree of freedom parallel robot, also known as a Stewart Platform or hexapod. This robot is intended for use in machining operations, to create complex geometries, without the need for a large and costly CNC machine.