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Continuum robots do not have rigid elements while multi-link flexible manipulators use "traditional" rigid links between flexible joints. One long continuous flexible material vs. a series of short flexible material segments interconnected with rigid material.


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So it sounds like you have an external camera system to track the end effector position and orientation? In that case I would use QR codes or april tags. Stick a couple of these on your end effector, and make sure that you put enough of them that 1 is always visible from your camera. The apriltags library provides the ability to extract position and ...


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the model would be different because of the location of the center of mass of the links, so maybe in one model is just the total length d while in others might only be d/2. To calculate the center of mass of your oval kind shape link you have two options: separate the shape of your link into the basic shapes like a trapezoid and two half circles https://...


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Kinematics is based on geometry and joint constraints, so no change there at all. Dynamic motion results from the sum of forces, so the only change to a dynamic analysis is that you don't include gravity, but all other forces would remain.


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Seems that the book has an error. You are right, they should correct that. In the drawing it can be seen that those two z-axis are indeed parallel. I recommend that you considered them parallel and try to draw them to see that it fits with the image.


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I'm unable to comment due to reps shortage, so, I'm adding it as an answer. This might answer your question. In your new attempt, the transformation of axes from origin-1 (i.e. $x_1, y_1, z_1$) to origin-2 ($x_2, y_2, z_2$) is incorrect as $x_2 \not\perp z_1$ and $x_2 \not\cap z_1$, violating DH convention. PS: It would be better if you could update your ...


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There are 2 main rules in assigning frames following DH convention: source: Robot Modeling and Control, Spong et. al $x_i \perp z_{i-1}$ $x_i$ intersects $z_{i-1}$ In your attempts, Your first attempt is incorrect as your $z_2$ axis is not in the direction of actuation of the prismatic joint. I'm not clear on your second attempt as $x_1$ appears to be ...


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