Cable-Movable Rolling Joint to Expand Workspace Under High External Load in a Hyper-Redundant Manipulator

Kim, Jeongryul; Kwon, Seong-il; Moon, Yonghwan; Kim, Keri

doi:10.1109/tmech.2021.3067335

Cited by 15 publications

(6 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…R OLLING contact (RC) in which one body rolls without slipping over the surface of the other is widespread in robotics, such as spherical robots [1], multifingered robotic hands [2], [3], and manipulator joints [4], [5]. When forming an RC joint, it has the advantages of the absence of abrasion wear, the simplification of the controller design, and the enlargement of reachable configurations due to the nature of nonholonomic constraints [3], [6].…”

Section: Introductionmentioning

confidence: 99%

“…RC joints are attracting increasing attention on their potential applications to robotic fingers [11]- [16], manipulator [4], [5], [17]- [22], etc. The kinematics of the one-DOF circular rolling contact (CRC) joint is modeled in [11], which is used to form a two-joint robot finger.…”

Section: Introductionmentioning

confidence: 99%

“…A three-DOF serial chain [17] and a three-DOF planar parallel mechanism [4] using CRC joints are designed, respectively, with the forward kinematics and inverse kinematics (IK) being analyzed. Contributing to the compactness, miniaturization potential, and lower part count, the RC joints are used to construct hyper-redundant manipulators for minimally invasive surgery [5], [19], [20], with the performance of the RC joints in terms of payload, force, and stiffness being continuously optimized [18], [21], [22]. It is worth noting that so far only one-DOF CRC joint has been explored, and the robotic fingers and manipulators perform only planar motions.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Kinematics Modeling and Control of Spherical Rolling Contact Joint and Manipulator

2023

View full text Add to dashboard Cite

Rolling contact joints are attracting increasing interest in applications to robotic fingers and manipulators, due to the potential of the absence of abrasion wear, the simplification of the controller, and the enlargement of reachable configurations. This article first proposes a novel two-degree-of-freedom (DOF) spherical rolling contact (SRC) joint, with the joint model elements being formulated, including rotation matrix, position vector, and free modes, as with those of classic joints. As an application, a new kind of serial manipulator formed by the SRC joints is presented, and its forward and inverse kinematics are modeled. The motions of the two-DOF SRC joint and manipulator are implemented using the FreeBOT, and the control method is proposed for the FreeBOT, such that the SRC joint and manipulator realize the motion control. The kinematics and control of the two-DOF SRC joint and manipulator are validated using physics simulations and on a real manipulator formed by FreeBOTs.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Kinematics Modeling and Control of Spherical Rolling Contact Joint and Manipulator

2023

View full text Add to dashboard Cite

show abstract

“…The flexible manipulators struggle to transfer torque efficiently when torsional stiffness is insufficient, yielding significant inconsistencies between the proximal and distal ends of the manipulator and a decrease in the in-situ torsional motion accuracy. To improve the torsional stiffness of flexible manipulators, Kim et al [25] proposed a discrete manipulator consisting of protrusion-based vertebrae which constrain the lateral sliding and torsional motion between the vertebrae by the matching of guideways and protrusions. However, the bending performance is unfavorable with an average position error of 4.59%.…”

Section: Introductionmentioning

confidence: 99%

Development of a Novel Ball-and-Socket Flexible Manipulator for Minimally Invasive Flexible Surgery

Song

et al. 2023

IEEE Trans. Med. Robot. Bionics

View full text Add to dashboard Cite

This work proposes a novel flexible manipulator consisting of a series of 2-DOF vertebrae based on a ball-andsocket joint that is connected by a ball-shaped surface and a cupshaped socket and constrained by pins for circumferential rotation. This manipulator can demonstrate outstanding torsional stiffness since the circumferential rotation between the vertebrae is constrained by four ball pins. The point contact between ball pins and guideways effectively reduces the friction between the vertebrae, thus allowing the designed manipulator to yield a smooth bending shape with constant curvature. This manipulator features high axial and torsional stiffness, excellent bending performance, sufficient loading capacity, and convenient integration with surgical instruments. Moreover, the excellent torsional stiffness enables this manipulator to efficiently transfer torque and be applied in in-situ torsional motion, effectively addressing the typical issue of limited dexterity for torsional motion. The kinematic modeling of the proposed manipulator under in-situ torsional motion has been derived, and its workspace has been analyzed. A robotic system has been assembled, and experiments have verified the proposed design and modeling validity. The results show that the maximum position errors in bending motion are 2.39% (horizontal direction) and 1.98% (vertical direction), and its torsional stiffness is 21.13N•mm/deg, which is 46 times higher than that of a typical spherical flexible manipulator (SFM). Such merits support this manipulator excellently performing the in-situ torsional motion with a maximum average position error of 3.58%. Furthermore, a phantom test of the larynx has been performed to verify the potential of clinical feasibility.

show abstract

“…Joint types for the cable-driven hyper-redundant robot mainly can be classified into the 1-DOF joint and 2-DOF joint [12]. e 1-DOF joints mainly include the revolute joint [13,14], the flexible beam [15,16], and the cylindrical rolling joint [17,18], while the multi-DOF joints mainly include the universal joint [19,20], the flexible backbone [21,22], and the spherical rolling joint. Based on the flexible backbone, Li et al developed a 2-DOF flexible endoscope driven by multiple cables, which is more dexterous than rigid endoscopes [23].…”

Section: Introductionmentioning

confidence: 99%

Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints

Huang

Liu

Yin

et al. 2021

Journal of Robotics

View full text Add to dashboard Cite

In most of the prior designs of conventional cable-driven hyper-redundant robots, the multiple degree-of-freedom (DOF) bending motion usually has bending coupling effects. It means that the rotation output of each DOF is controlled by multiple pairs of cable inputs. The bending coupling effect will increase the complexity of the driving mechanism and the risk of slack in the driving cables. To address these problems, a novel 2-DOF decoupled joint is proposed by adjusting the axes distribution of the universal joints. Based on the decoupled joint, a 4-DOF hyper-redundant robot with two segments is developed. The kinematic model of the robot is established, and the workspace is analyzed. To simplify the driving mechanism, a kinematic fitting approach is presented for both proximal and distal segments and the mapping between the actuator space and the joint space is significantly simplified. It also leads to the simplification of the driving mechanism and the control system. Furthermore, the cable-driven hyper-redundant robot prototype with multiple decoupled joints is established. The experiments on the robot prototype verify the advantages of the design.

show abstract

Cable-Movable Rolling Joint to Expand Workspace Under High External Load in a Hyper-Redundant Manipulator

Cited by 15 publications

References 25 publications

Kinematics Modeling and Control of Spherical Rolling Contact Joint and Manipulator

Kinematics Modeling and Control of Spherical Rolling Contact Joint and Manipulator

Development of a Novel Ball-and-Socket Flexible Manipulator for Minimally Invasive Flexible Surgery

Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints

Contact Info

Product

Resources

About