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. Author manuscript; available in PMC: 2020 Apr 1.
Published in final edited form as: IEEE Trans Robot. 2018 Nov 14;35(2):353–370. doi: 10.1109/TRO.2018.2878906

TABLE II.

Parameters of Three-Tube Robot

Tube 1 Tube 2 Tube 3
Section 1 Section 1 Section 2 Section 1 Section 2
Length (mm) 150 17 150 184 86.4
Curvature (mm−1) 1/265 0.0 1/265 0.0 1/55
Bending Stiffness (Nm2) 5.07 × 10−2 5.07 × 10−2 1.45 × 10−2
Poisson’s ratio 0.3 0.3 0.3
OD \ ID (mm) –\2.39 2.305\1.95 1.825\–
Clearance (mm) 0.0425 0.0625
Friction Coefficient 0.2 0.2