Page 265 - Flexible Robotics in Medicine
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254 Chapter 11
Figure 11.4
Workspace of the manipulator.
Figure 11.5
Sample design of the one-piece design. Details of the backbone and the top of the manipulator
are shown.
For the workspace region (Fig. 11.4), it is constrained by the bending limit of the backbone
and base translation limit [18,20]. From the model, we know that the workspace is
circularly symmetric spheroidal volume.
