A Dynamic Model for Concentric Tube Robots

Till, John; Aloi, Vincent A.; Riojas, Katherine E.; Anderson, Patrick L.; Webster, Robert J.; Rucker, D. Caleb

doi:10.1109/tro.2020.3000290

Cited by 35 publications

(26 citation statements)

References 45 publications

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“…With tendon-bent concentric tube robots, as shown in Fig 1(b), elastic nested tubes translate axially with respect to each other. While some studies use pre-shaped tubes [34], in this tutorial, the bending of the tubes is considered which will be done through tendon mechanisms [14], [38]. Due to a variety of medical applications defined for concentric tube robots, they have been the subject of extensive research in the past years [33], [39]- [41].…”

Section: Structural Configurationsmentioning

confidence: 99%

“…Although most of the models developed for concentric tube CRs are based on the pre-shaped assumption of the tubes [34], recently, other types of actuation have been also considered. For example, in [38] a tendon-driven concentric tube continuum robot was investigated theoretically and experimentally.…”

Section: Tendon-bent Concentric Tube Crmentioning

confidence: 99%

“…Based on the above hypothetical design, considering small stiffness of the springs, neglecting the friction force and looseness between the tubes [54], and implementing Cosserat rod model, (1), (3), and (4) apply to each section. Regarding the length change of the tubes, it is assumed that the insertion speed and acceleration of the tubes are relatively small [34]. Although this assumption will restrict our model, it considerably simplifies the derivation of the equations and results in minimum modification of the governing equations.…”

Section: Tendon-bent Concentric Tube Crmentioning

confidence: 99%

“…However, different hypothetical designs of tendon-driven robots were not discussed. Besides, [34] established the dynamic response of pre-shaped concentric tube robots, where the actuation and functionality of the robot are quite different than tendon-driven ones.…”

Section: Introductionmentioning

confidence: 99%

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Cosserat Rod-Based Dynamic Modeling of Tendon-Driven Continuum Robots: A Tutorial

2021

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This article provides a tutorial on the dynamic modeling of continuum robots. Continuum robots (CRs) have gained popularity in recent years due to their flexible backbone structure. Modeling and control of CRs motivate accurate and efficient dynamic models. Such models will enable simulation of dynamic behavior, improved structural design, and the development of dynamics-based control systems for CRs. As a unified underlying approach, the Cosserat rod-based modeling of tendon-driven CRs is used as the basis of the modeling techniques discussed in this paper. In addition to conventional continuum robot assemblies, new and emerging assemblies such as tendon-bent concentric tube and co-operative robots are also considered. The governing equations of motion for conventional CRs are first summarized and then extended for other tendon-driven CRs. This tutorial also contributes to developing a MATLAB code package for simulation of the dynamic response of these robots. The presented method and codes provide a useful and compact resource for readers and can be used for further development of tendon-driven continuum robots.

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Section: Structural Configurationsmentioning

confidence: 99%

Section: Tendon-bent Concentric Tube Crmentioning

confidence: 99%

Section: Tendon-bent Concentric Tube Crmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Cosserat Rod-Based Dynamic Modeling of Tendon-Driven Continuum Robots: A Tutorial

2021

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“…These research efforts have converged on a select type of Cosserat rods model with a particular kinematic structure representing the internal tubes' additional rotational motion [4], [5]. Although this Cosserat approach has been improved over the years to include tubes' clearance, friction [6], and inertial dynamics [7], it has been essentially maintained as initially proposed [8]. Here, we refer to it as the standard CTR model, and we briefly recall it in section II.…”

Section: Introductionmentioning

confidence: 99%

A Sliding-Rod Variable-Strain Model for Concentric Tube Robots

Renda

Messer

Rucker

et al. 2021

IEEE Robot. Autom. Lett.

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In this work, the Piecewise Variable-strain (PVS) approach is applied to the case of Concentric Tube Robots (CTRs) and extended to include the tubes' sliding motion. In particular, the currently accepted continuous Cosserat rod model is discretized onto a finite set of strain basis functions. At the same time, the insertion and rotation motions of the tubes are included as generalized coordinates instead of boundary kinematic conditions. Doing so, we obtain a minimum set of closed-form algebraic equations that can be solved not only for the shape variables but also for the actuation forces and torques for the first time. This new approach opens the way to torquecontrolled CTRs, which is poised to enhance elastic stability and improve interaction forces' control at the end-effector.

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Continuum Robots: An Overview

Russo

Sadati

Dong

et al. 2023

Advanced Intelligent Systems

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When thinking of robots, the image that immediately springs to mind is either an android, designed to resemble human beings and mimic their behavior, or an industrial manipulator, for example, a large machine of rigid steel working in an assembly line. However, robotic systems of multiple forms have been developed to carry out the most diverse tasks, with designs that evolved from readily available structures, such as vehicles, or inspired by nature. In the last decade, more and more bioinspired designs have been enabled by advances in computer science, materials, and manufacturing. Among them, continuum robots, inspired by snakes, trunks, and tendrils, are characterized by a compliant backbone capable of continuous bending, whose shape (configuration, i.e., position and orientation along the backbone curve) is controlled by applying loads through onboard "intrinsic" actuators (e.g., pneumatics or hydraulics) or transmission elements (e.g., tendons, rods, or compliant tubes) that are pushed/pulled from an extremity of the backbone ("extrinsic actuation"). These robots have flexible bodies with a high length to cross-section diameter ratio and are uniquely suited to tasks that require the deployment of tools or sensors with a long reach into tortuous and narrow paths. [1] Continuum robots were first developed in the 1960s [2] and rose to prominence in the late 1990s, [3] when they were often called elephant trunk, [4] tentacle/tendril, [5] or flexible [6] manipulators. Whereas other robots were characterized by intrinsic actuation and larger sizes, research on continuum robots first focused on miniaturization for medical applications, [7,8] leading to extrinsic actuation to enable leaner designs. Recently, continuum robots have been developed for a wider range of applications, including manufacturing, aerospace, search and rescue, and nuclear. In such scenarios, the infinite degrees of freedom (DoFs) of these slender robots enable inspection and intervention in areas that cannot be accessed by conventional robots (e.g., tunnels [9] and gas turbines [10] ).An exhaustive literature search (see Appendix) outlines a surging interest in continuum robots, with a 19.6% average annual growth in publications between 2012 and 2021 (continuum robot search on Web of Science). Three main topics can be observed in recent literature surveys, listed in Table 1. DesignTendon-driven and concentric tube robots are predominant in surveys, but they are not the only design solutions. [18] This richer literature can be attributed to intense research effort toward medical and other small-scale applications when compared to larger-scale tasks (e.g., manipulation) where intrinsic actuation is advantageous.

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A Dynamic Model for Concentric Tube Robots

Cited by 35 publications

References 45 publications

Cosserat Rod-Based Dynamic Modeling of Tendon-Driven Continuum Robots: A Tutorial

Cosserat Rod-Based Dynamic Modeling of Tendon-Driven Continuum Robots: A Tutorial

A Sliding-Rod Variable-Strain Model for Concentric Tube Robots

Continuum Robots: An Overview

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