Kinematics and Workspace Analysis

Kinematic Analysis

Fig. 6.1 shows the configuration of Treebot. In the notations, the superscripts r and f denote the front and rear gripper frame respectively. l _f and l _r represent the distance from the end of the continuum body to the center of the front and rear gripper respectively. h _g denotes the distance between the base of the gripper and the continuum body. The reference frames for the front and rear grippers are also illustrated in the figure. The direction of a gripper refers to the direction along the positive z-axis, where a normal direction refers to the direction toward the positive x-axis.