Modeling and Analysis of Tendon-Driven Continuum Robots for Rod-Based Locking
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Bibliographic record
Abstract
Various design modifications have been proposed for tendon-driven continuum robots to improve their stiffness and workspace. One of them is using locking mechanisms to constrain the lengths of rods or passive backbones along the robot. However, physics-based models used to predict these robots' behaviour commonly assume that the curvature of the locked portion does not change during robot actuation or that the effects of friction and gravity are negligible. In addition, these models do not consider the variations in twist on force application. In this letter, we propose a 3D static model for tendon-driven continuum robots experiencing locking due to length constraints on rods along their backbone. The proposed model is evaluated on prototypes of length 240 mm, with up to three locking mechanisms and has an accuracy of 3.63% w.r.t. length. Using the proposed model, a compliance analysis is performed studying the evolution of the robot compliance with the position of the locking mechanisms. An actuation strategy is proposed that can allow the robot to achieve the same shape with different compliance.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it