Design of a Modular, Multi-Arm Concentric Tube Robot Featuring Roller Gears
AUTHORS
Florea
Adrian N. ,
Ropella
Dominick S. ,
Amanov
Emar ,
Herrell
S. Duke ,
Webster
Robert J. .
Proc. SPIE 12034, Medical Imaging 2022: Image-Guided Procedures, Robotic Interventions, and Modeling.
ABSTRACT
This paper describes the design of a modular concentric tube robot actuation system featuring roller gears. We extended prior work in a single-arm system within the literature to a two-arm system. We present mechanical design and initial performance verification experiments, including two-handed manipulation experiments for the proposed system. The overarching contribution is a modular, potentially low cost, approach to the actuation of multi-arm concentric tube robot systems.
Tags: Conference Papers 2022