Workspace characterization of tendon-driven continuum joints

Abstract

This bachelor thesis focuses on the implementation of an experimental study that examines different parameters of the kinematics of a continuum joint and their impact on the achievable working space. For this purpose, a continuum joint is fixed on a test rig and stressed with concentrated loads. The loads are applied in different tendon arrangements in order to compare them with each other. From this, the characterization of the tendon-influencing factors on the continuum and the resulting position of the end effector takes place. One of the most important engineering parameters in rope-driven continuum robots is the number of tendons and the distribution of tendon loads. The study to select the appropriate positioning of tendons is independent of the material of the continuum. It was possible to obtain an overview of the different characteristics and the influence of the tendons to obtain the largest possible working space for future applications.