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Fig. 5 | ROBOMECH Journal

Fig. 5

From: A mechanical approach to realize reflexive omnidirectional bending motion for pneumatic continuum robots

Fig. 5

Bending model for calculation of maximum radius of curvature and rotation angle. \( d \) is the distance between bellows A and the opposite, inside bellows (bellows D); \( R \) is the maximum radius of curvature of bellows D; and \( \theta \) is the rotation angle. The minimum and maximum lengths of both bellows are \( L_{1} \) and \( L_{2} \), respectively. Bellows D is shortened at the maximum bending position, and is then extended by \( \alpha \)

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