A Study on Planar Non-constant Curvature Model for Continuum Manipulator with Rubber Skin Layer including Pulling-wire Mechanism

Abstract

In this paper, we show a study on a planar non-constant curvature model for the continuum manipulator with rubber skin layer including pulling-wire mechanism. In order to derive the condition for calculating the shape of the manipulator, we make the assumption that a uniform distributed force per unit length is applied to the manipulator along the tangential direction of the manipulator backbone due to the friction between the pulling wire and the surrounding rubber skin layer.