ROBOMECH Journal

Table 2 Optimization result of the Plain Model

From: A single motor-driven continuum robot that can be designed to deform into a complex shape with curvature distribution

Unit [mm]	w	\(d_{1}\)	\(d_{2}\)	\(d_{3}\)	\(d_{4}\)	\(d_{5}\)	\(d_{6}\)
(a) Circular curve	37	50	15	20	25	30	40
(b) Clothoid curve	26	15	15	15	25	30	80
(c) Lemniscate	59	10	25	35	50	35	25

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