Azamat Yeshmukhametov, School of Science and Technology, Tokai University, Hiratsuka, Japan; Department of Precision Engineering, Tokai University, Hiratsuka, Japan

Koichi Koganezawa, Department of Robotics and Engineering Tools of Automation, Satbayev University, Almaty, Kazakhstan

Askar Seidakhmet, Department Applied Mechanics and CAD Engineering, Satbayev University, Almaty, Kazakhstan

Yoshio Yamamoto, Department of Mechanical Engineering, Tokai University, Hiratsuka, Japan

Abstract
In the last couple of decades, wire-driven mechanisms getting more attention in robotics and medical instruments. The wire-driven actuation system is one of the effective ways of force transmission in the distance. In continuum robots, a wire-driven mechanism plays a crucial role in robot control. Likewise, power transmission in a range allows us to locate motors in the base and improve robot design and dexterity features as well. However, a wire-driven mechanism cannot provide stiffness to the robot structure, which can negatively affect the robot's end-effector position. Therefore, many scholars and engineers contributing various types of continuum robot’s backbone design to provide necessary rigidity to the robot backbone during the work. Also, wire-driven mechanisms have a problem with tension control. Tendon actuated robots demand additional mechanisms to compensate for lost tension during the motion as well. So, the investigation will cover a novel pretension mechanism system to avoid wire slack and escape from the pulleys. The novelty of this research is proposed by robot kinematics and a new robot control strategy.This research will describe a continuum robot backbone design and robot control, moreover, based on proposed robot design, forward kinematics, and control architecture of the robot.

Keywords
Continuum robot, wire-driven, 3d printed, robot design, control, kinematics.

Cite this paper
Azamat Yeshmukhametov, Koichi Koganezawa, Askar Seidakhmet, Yoshio Yamamoto, Control of Two-Section 3D Printed Tele-operated Wire-Driven Continuum Robot Arm , SCIREA Journal of Electrical Engineering. Volume 5, Issue 1, February 2020 | PP. 1-19.

References

[ 1 ]	D.Caleb Rucker, Robert J Webster III.,Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading, IEEE TRANSACTIONS ON ROBOTICS, vol.27.NO.6.December 2011
[ 2 ]	Guochen Niu, Li Wang and Guanghua Zong, Attitude control based on fuzzy logic for continuum aircraft fuel tank inspection robot, 29 (2015)
[ 3 ]	Zheng li, Liao Wu, Hongliang Ren, Haoyong Yu, Kinematic comparison of surgical tendon-driven manipulators and concentric tube manipulators, Machine and Mechanism, 148-165 pp, (2017)
[ 4 ]	Kun Cao, et.al. Workspace Analysis of tendon –driven Continuum Robots Based on Mechanical Interference Identification, Journal of Mechanical Design, 2017.
[ 5 ]	Zheng Li and Ruxu Du, Design and Analysis of a Bio-inspired Wire-Driven Multi-Section Flexible Robot, International Journal of Advanced Robotic Systems, 2013.
[ 6 ]	Anderson, V.C.; Horn, R.C. Tensor arm manipulator design. Trans. ASME 1967, 67, 1–12.
[ 7 ]	Aoki, T.; Ochiai, A.; Hirose, S. Study on slime robot development of the mobile robot prototype model using bridle bellows. In Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, USA, 26 April–1 May 2004; pp. 2808–2813.
[ 8 ]	Xin Dong, and et.al, A Novel Continuum Robot Using Twin-Pivot Compliant Joints: Design, Modelling, and Validation., Journal of Mechanisms and Robotics, 2016.
[ 9 ]	Rob Buckingham, Andrew Graham, (2012) "Nuclear snake‐arm robots", Industrial Robot: An International Journal ,Vol. 39 Issue:1 pp. 6-11, https://doi.org/10.1108/01439911211192448
[ 10 ]	K. Suzumori, S. Iikura and H. Tanaka, Development of Flexible Microactuator and Its Applications to Robotic Mechanisms}, pp. 1622-1627, Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, California, 1991.
[ 11 ]	Michael W. Hannan and Ian D. Walker, Kinematics and the Implementation of an Elephant's Trunk Manipulator and Other Continuum Style Robots, Journal of Field Robotics, volume 20, Issue 2, pp 45-63, https://doi.org/10.1002/rob.10070
[ 12 ]	M.D. Grissom, I.D Walker, Design and experimental testing of the OctArm soft robot manipulator, Proc. Of SPIE, 2006.
[ 13 ]	W. McMahan, I.D. Walker field Trials and Testing of the OctArm Continuum Manipulators, pp. 2336-2341, Proceedings of 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida, 2006.
[ 14 ]	P.E. Dupont, J. Lock, B. Itkowitz and E. Butler, Design and Control of Concentric-Tube robots, Vol.26, No.2, pp. 209-225, IEEE Trans. Robotics., 2010.
[ 15 ]	P. Sears and P.E. Dupont, Inverse Kinematics of Concentric Tube Steerable needles, pp. 1887-1892, IEEE International Conference on Robotics and Automation, Roma, Italy, April 2007.
[ 16 ]	L.A. Lyons, R. J. Webster III and R. Alterovitz, Motion planning for active Cannulas, pp.801-806, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2009.
[ 17 ]	D.C. Rucker, B.A. Jones and R.J. Webster III, A geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots, Vol.26, №5, IEEE Transactions on Robotics, Oct2010.
[ 18 ]	R.H. Sturges, S. Laowattana, A flexible tendon controlled device for endoscopy, pp 2582-2591, Proceedings of the 1991 IEEE International Conference and Automation, Sacramento, California, April, 1991.
[ 19 ]	Bo Ouyang, Yunhui Liu and Dong Sun Design Shape Control of a Three-section Continuum Robot, pp. 1151-1156, Proceeding of the 2016 IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Alberta, Canada, July 12-15, 2016
[ 20 ]	R.J. Webster and B.A. Jones, Design and kinematics of modelling constant curvature continuum Robots, IntJ Robot.Res., vol29,pp. 1661-1683,2010
[ 21 ]	B.A. Jones and I.D. Walker, Kinematics for multisection continuum robots, IEEE TransRobotics, vol 43-55,2006
[ 22 ]	B.A. Jones and I.D. Walker, Practical kinematics for real-time implementation continuum robots, IEEE TransRobotics, vol 22, pp 1087-1099, 2006
[ 23 ]	J. Burgner, D.C. Rucker, H.B. Gilbert, P.J. Swaney, P.T. Russel, K.D. Weaver at.all, A telerobotic system for transnasal surgery, IEEE/ASME Trans. Mechatronics, vol 19, 996-1006, 2014
[ 24 ]	D. Trivedi, A. Lotfi, and C.D. Rahn, Geometrically exact module for soft robotic manipulators, IEEE TransRobot, vol24, pp 773-780, 2008.
[ 25 ]	D.C. Rucker, B.A. Jones, R.S. Webster, A geometrically exact model for externally loaded concentric-tube continuum robots, IEEE TransRobot, vol 26, pp 769-780, 2010.
[ 26 ]	D.B. Camarillo, C.F. Milne, C.R. Carlson, M.R. Zinn, and J.K. Salisbury, Mechanics modelling of tendon –driven continuum manipulators, IEEE TransRobot, vol 24, pp 1262-1273, 2008.
[ 27 ]	A. Yeshmukhametov, Z. Buribayev, Y. Amirgaliyev and R. Ramakrishanan. “Modeling and Validation of New Continuum Robot Backbone Design With Variable Stiffness Inspired from Elephant Trunk” IOP conference series on material science and engineering, ICMMR 2018, Tokyo, July, 2018.
[ 28 ]	A. Yeshmukhametov, K. Koganezawa and Y. Yamamoto, “A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control”, Robotics Journal, MDPI, July 2019
[ 29 ]	A. Yeshmukhametov, K. Koganezawa and Y. Yamamoto, “Design and Kinematics of Cable-Driven Continuum Robot Arm with Universal Joint Backbone”, IEEE International Conference on Robotics and Biomimetics, December, Kuala-Lumpur, 2018