@inproceedings{a6e437d7f8d2478998f90b1cb374f5c0,
title = "Equilibrium conformation of concentric-tube robots under loads based on the minimum energy principle",
abstract = "Concentric-tube robots, which consist of several pre-curved tubes, can achieve dexterous motion through axial rotation and translation of each component tube. Aiming at equilibrium conformation modeling of externally loaded concentric-tube robots, an equivalent conservative system is proposed to translate the force balance problem into the minimum potential energy configuration problem of the conservative system. Then, the optimal control theory is used to derive the differential equations for the equilibrium conformation. Finally, this model is visually evaluated through the simulation of a loaded two-tube robot, and the effects of the external loads on the vital parameters of the equilibrium conformation are analyzed.",
keywords = "Concentric-tube continuum robots, Equilibrium conformation, Kirchhoff rod, Minimum potential energy principle",
author = "Long Huang and Changyan He and Yang Yang and Chenhan Guang",
note = "Publisher Copyright: {\textcopyright} Springer Nature Singapore Pte Ltd. 2017.; 4th IFToMM Asian Conference on Mechanism and Machine Science, ASIAN MMS 2016 and International Conference on Mechanism and Machine Science of China, CCMMS 2016 ; Conference date: 15-12-2016 Through 17-12-2016",
year = "2017",
doi = "10.1007/978-981-10-2875-5\_18",
language = "英语",
isbn = "9789811028748",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Verlag",
pages = "209--221",
editor = "Xianmin Zhang and Yanjiang Huang and Nianfeng Wang",
booktitle = "Mechanism and Machine Science - Proceedings of ASIAN MMS 2016 and CCMMS 2016",
address = "德国",
}