Jahanara, Hasti et Xu, Hang.
2025.
« Semi-continuum robot with discrete quantized deformation of bistable metastructure ».
In Proceedings of the CSME-CFDSC-CSR 2025 International Congress (Montreal, QC, Canada, May 25-28, 2025)
Coll. « Progress in Canadian Mechanical Engineering », vol. 8.
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Résumé
Continuum robots are widely used in surgical applications. However, the non-linear motion system of continuum robots has a number of kinematic degrees of freedom approaching infinity. Even with a complex control system, continuum robots cannot achieve repeatable and accurate deformation that is comparable to that of conventional robots, e.g. puma robots. This study aims to develop a semi-continuum robot with discrete quantized deformation to improve the repeatability and accuracy of continuum robots. We integrate bistable metastructures with designable discrete deformations into continuum robots, making the degrees of freedom tailorable. The deformation performance of the proposed bistable metastructures is obtained via numerical simulation. The combinations of the achievable deformations are then estimated. The triggering mechanism is also developed and integrated into the 3D-printed prototypes.
| Type de document: | Compte rendu de conférence |
|---|---|
| Éditeurs: | Éditeurs ORCID Hof, Lucas A. NON SPÉCIFIÉ Di Labbio, Giuseppe NON SPÉCIFIÉ Tahan, Antoine NON SPÉCIFIÉ Sanjosé, Marlène NON SPÉCIFIÉ Lalonde, Sébastien NON SPÉCIFIÉ Demarquette, Nicole R. NON SPÉCIFIÉ |
| Date de dépôt: | 18 déc. 2025 15:12 |
| Dernière modification: | 18 déc. 2025 15:12 |
| URI: | https://espace2.etsmtl.ca/id/eprint/32429 |
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