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Table 4 Optimization result of penetration model (ii)

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

Unit [mm]

w

\(d_{1}\)

\(d_{2}\)

\(d_{3}\)

\(d_{4}\)

\(d_{5}\)

(a) \(b = 0.912\)

24

35

15

45

35

20

(b) \(b = 0.606\)

55

25

25

45

35

20

(c) \(b = 0.3\)

75

35

10

45

40

20