Shape Modeling of Continuous-Curvature Continuum Robots

  • Shaoping BaiEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


An essential problem in developing concentric-tube continuum robots is to determine the shape of the robot, which is dependent on robot structure and external load. A comprehensive model that takes into considerations of influencing factors is hence required. In this work, the shape modeling of a type of concentric-tube continuum robot built with a collection of super-elastic NiTiNol tubes is studied. The model, developed on the basis of differential geometry and curved beam theory, is able to determine both the bending deflection and torsional deformation for a continuum robot of continuous curvature. Simulation results for calculating the shape of a continuum robot built with NiTiNol tubes are included.


Flexible manipulators Continuous-curvature continuum robots Shape modeling NiTiNol tubes 


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.Department of Mechanical and Manufacturing Engineering and Centre for Robotics ResearchAalborg UniversityAalborgDenmark

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