Purpose

The purpose of this paper 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.

Design/methodology/approach

This research explains the hardware design of a hybrid pre-tension mechanism device and proposes a mathematic formulation wire-tension based on robot design. Also, the wire-tension control method and payload estimation model would be discussed.

Findings

Wire-tension is directly related to the continuum manipulators’ rigidity and accuracy. However, in the case of robot motion, wires lose their tension and such an issue leads to the inaccuracy and twist deformation. Therefore, the proposed design assists in preventing any wire slack and derailing the problem of the wires.

Originality/value

The novelty of this research is proposed pre-tension mechanism device design and control schematics. Proposed pre-tension mechanism designed to maintain up to eight wires simultaneously.

中文翻译：

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多节连续体机器人线张力反馈控制及负荷操纵性研究

目的

本文的目的是提出一种用于连续机械手的新型混合预紧机构，以防止导线松弛并提高连续机械手的有效负载能力，并提出一种控制连续机械手形状的新方法。

设计/方法/方法

这项研究解释了混合预紧机构设备的硬件设计，并提出了一种基于机器人设计的数学公式线张力。另外，将讨论线张力控制方法和有效载荷估计模型。

发现

线张力与连续机械臂的刚度和精度直接相关。但是，在机器人运动的情况下，导线会失去张力，这样的问题会导致不准确和扭曲变形。因此，提出的设计有助于防止任何电线松弛和使电线问题脱轨。

创意/价值

本研究的新颖之处在于提出了预紧机构的装置设计和控制原理图。建议的预张紧机构旨在同时保持最多八根导线。