Materials and CAD Files
Structural Components
Electronics and Motors
Hardware
Custom Part Files
Tube Materials
Assembly Guides
Custom Part Manufacturing Guide
Full System Assembly
Cart Assembly
Tube Fabrication
Electronics Setup
Electronics Board Setup
Firmware Installation
Wire Management
Full System Test
Kinematics
Calculating Kinematics of a CTR
Implementing Kinematics
Troubleshooting Kinematics
Experiments
Installing Tubes
Homing the Robot
Graph Paper In-Plane Bending Experiment
Out-of-Plane Rotation Experiment
The actuation system is designed such that tubes can be inserted and removed in under 3 minutes. They use a twist and lock mechanism to allow for both easy access and rigid control.
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Assemble your concentric tubes such that they are nested properly within each other.
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Separate the carts in the actuation system by about 50mm. This will allow you to reach in between carts to lock the tubes in place.
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Insert the tubes from the front of the actuation system. You will need to twist the tubes to allow the cubes to pass through the carts.
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Insert the innermost tube cube into the last cart. Do not push it all of the way through. Rotate the cube by about $45^\circ$. Insert on the tube locks to hold the tube in place. You should be able to gently tug on the tube without it moving. If the tube moves at all, this means it did not properly lock. You most likely inserted the cube to far into the cart.
- Follow step 4 for all other tubes.