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Table 3 In-plane deformation under external loads

From: General Kinetostatic Modeling and Deformation Analysis of a Two-Module Rod-Driven Continuum Robot with Friction Considered

Type

Angle of bending plane (\(\phi \in {[{ - \pi } \mathord{\left/ {\vphantom {{ - \pi } 2}} \right. \kern-0pt} 2} \,,\space {\pi \mathord{\left/ {\vphantom {\pi 2}} \right. \kern-0pt} 2]}\))

Bending angle

S1 shape

\(\phi_{1} = \phi\)

\(\phi_{2} = \phi + \pi\)

\(\beta_{1} , \, \beta_{2} \in [0 \,,\space {\pi \mathord{\left/ {\vphantom {\pi 4}} \right. \kern-0pt} 4]}\)

S2 shape

\(\phi_{1} = \phi + \pi\)

\(\phi_{2} = \phi\)

\(\beta_{1} , \, \beta_{2} \in [0 \,,\space {\pi \mathord{\left/ {\vphantom {\pi 4}} \right. \kern-0pt} 4]}\)

C1 shape

\(\phi_{1} = \phi\)

\(\phi_{2} = \phi\)

\(\beta_{1} , \, \beta_{2} \in [0 \,,\space {\pi \mathord{\left/ {\vphantom {\pi 4}} \right. \kern-0pt} 4]}\)

C2 shape

\(\phi_{1} = \phi + \pi\)

\(\phi_{2} = \phi + \pi\)

\(\beta_{1} , \, \beta_{2} \in [0 \,,\space {\pi \mathord{\left/ {\vphantom {\pi 4}} \right. \kern-0pt} 4]}\)