Skip to main content

Table 3 Optimization result of Penetration Model (i)

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

Unit [mm]

j

w

\(d_{1}\)

\(d_{2}\)

\(d_{3}\)

\(d_{4}\)

\(d_{5}\)

\(d_{6}\)

(a) Circular curve

4

49

45

15

20

30

20

50

(b) Sin curve

4

25

45

10

20

50

30

25

(c) \(h_f(x)\)

2

16

40

50

10

35

20

25