Electromagnetic Actuation and Sensing in Medical Robotics by Hongliang Ren & Jinji Sun

Author:Hongliang Ren & Jinji Sun
Language: eng
Format: epub
Publisher: Springer Singapore, Singapore

(20)

The curvature is then defined as

(21)

The arc length is formulated by assuming that the plane sections remain plane after bending, where S is the arc length, R is the radius and is the angle in radians. Equation (21) is in differential form:

(22)

The curvature is more commonly expressed as a function of the bending radius (Fig. 6),

(23)

Fig. 6Model of a bending segment.

The length of the neutral axis (dx) is

(24)

Consider strain at the yellow region,

(25)

For an isotropic material with young’s Modulus E, the stress can be expressed as

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