Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 16, issue 2
Articles | Volume 16, issue 2
https://doi.org/10.5194/ms-16-317-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-16-317-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 16, issue 2
Research article
 | 
07 Jul 2025
Research article |  | 07 Jul 2025

Effect of fiber orientation on the kinematical behaviors of a braided continuum manipulator

Xingtao Hu, Le Yin, Jiarui Chen, Zhikai Zhou, and Zufeng Shang

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Short summary
Soft continuum manipulators show great promise in minimal invasive surgery (MIS) due to their excellent adaptability and contact safety. In our recent work,  a novel braided manipulator based on fibrous materials is developed which features a thin-walled structure and a linear actuation response, enhancing its suitability for surgical environments. This paper studies effects of design parameters on its kinematical behaviors, which can provide a foundation for an optimized skeleton design.
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