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. Author manuscript; available in PMC: 2018 Feb 1.
Published in final edited form as: IEEE Trans Robot. 2016 Nov 22;33(1):22–37. doi: 10.1109/TRO.2016.2622278

TABLE II.

Tube Parameters

Length, L (mm) 200
Collar Length, a1a2 (mm) 17
OD (mm) \ ID (mm) Tube 1 2.540 \ 2.248
Tube 2 2.083 \ 1.321
Swept Angle, θdes (°) Design parameter 97.4
Relaxed parameter 94
Maximum tube precurvature, ûmax (mm−1) Design parameter 1/65
Relaxed parameter 1/70
Curvature of Constant Precurvature Tube Pair, (mm−1) 1/117.65
Theoretical Value of Relative
Stiffness, kx1/kx2 and kz1/kz2
1.019
Poisson’s Ratio, ν 0.3