Page 263 - Flexible Robotics in Medicine
P. 263
252 Chapter 11
Figure 11.1
One of the designs using vertebras connected to form the manipulator. (Left) 2 DOF bending;
(right) mechanical transmission unit.
Figure 11.2
Guiding hole position for a tendon to go through.
α
2π 2πR 5 L
α
ð
2π 2π R 2 rÞ 5 L 1
α
ð
2π 2π R 1 rÞ 5 L 2
L 1 1 rα 5 L 5 L 2 2 rα
