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Published at December 4

Design and Control of an Ultra-Slender Push-Pull Multisection Continuum Manipulator for In-Situ Inspection of Aeroengine

cs.RO

Released Date: December 4, 2024

Authors: Weiheng Zhong¹, Yuancan Huang¹, Da Hong¹, Nianfeng Shao¹

Aff.: ¹Beijing Institute of Technology

Arxiv: http://arxiv.org/pdf/2412.03508v1

Refer to caption

Pneumatic gripper				Tube status^†
a^*	b^*	c^*	d^$\star$	1	2	3
$\checkmark$	$\checkmark$	$\checkmark$	I	Controllable	Movable	Movable
$\times$	$\checkmark$	$\checkmark$	II	Fixed	Controllable	Movable
$\times$	$\times$	$\checkmark$	III	Fixed	Fixed	Controllable
$\times$	$\times$	$\times$	Any	Fixed	Fixed	Fixed