Continuum Robots for Manipulation Applications: A Survey

Kolachalama, Srikanth; Lakshmanan, Sridhar

doi:10.1155/2020/4187048

Cited by 84 publications

(51 citation statements)

References 186 publications

(248 reference statements)

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“…Primarily, their application has been found in continnum soft robots and secondarily in power assistive devices and soft grippers. In continuum soft robots, EFAMs can be parallelly bundled to create a flexible beam-like structure that bends and extends when a differential pressure is applied to the muscles [19][20][21][22][23][24]. Another approach to achieve out-of-axis motion is to constrain an EFAM from extending on one side or helically.…”

Section: Literature On Fam Modelingmentioning

confidence: 99%

Characterization and Analysis of Extensile Fluidic Artificial Muscles

2021

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Extensile fluidic artificial muscles (EFAMs) are soft actuators known for their large ranges of extension, low weight, and blocked forces comparable to those of pneumatic cylinders. EFAMs have yet to be studied in a way that thoroughly focuses on their manufacturing, experimental characterization, and modeling. A fabrication method was developed for production of two EFAMs. The quasi-static axial force response of EFAMs to varying displacement was measured by testing two specimens under isobaric conditions over a pressure range of 103.4–517.1 kPa (15–75 psi) with 103.4 kPa (15 psi) increments. The muscles were characterized by a blocked force of 280 N and a maximum stroke of 98% at 517.1 kPa (75 psi). A force-balance model was used to analyze EFAM response. Prior work employing the force-balance approach used hyper-elastic constitutive models based on polynomial expressions. In this study, these models are validated for EFAMs, and new constitutive models are proposed that better represent the measured stress values of rubber as a function of strain. These constitutive models are compared in terms of accuracy when estimating pressure-dependent stress–strain relationships of the bladder material. The analysis demonstrates that the new hyper-elastic stress models have an error 5% smaller than models previously employed for EFAMs for the same number of coefficients. Finally, the analysis suggests that the new stress functions have smaller errors than the polynomial stress model with the same number of coefficients, guarantee material stability, and are more conservative about the stress values for strains outside of the testing range.

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Section: Literature On Fam Modelingmentioning

confidence: 99%

Characterization and Analysis of Extensile Fluidic Artificial Muscles

2021

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“…Nature has compelling characteristics for continuous actuated structures which can be applied to robotic aerial manipulators. Inspirational examples include the: elephant trunk, spine, snake, octopus arm and human arm [Kolachalama and Lakshmanan, 2020]. Manipulators which take such inspiration are known as continuum robots.…”

Section: Continuum Manipulatormentioning

confidence: 99%

Autonomous Aerial Delivery Vehicles, a Survey of Techniques on how Aerial Package Delivery is Achieved

Saunders

Saeedi

2021

Preprint

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Autonomous aerial delivery vehicles have gained significant interest in the last decade. This has been enabled by technological advancements in aerial manipulators and novel grippers with enhanced force to weight ratios. Furthermore, improved control schemes and vehicle dynamics are better able to model the payload and improved perception algorithms to detect key features within the unmanned aerial vehicle's (UAV) environment. In this survey, a systematic review of the technological advancements and open research problems of autonomous aerial delivery vehicles is conducted. First, various types of manipulators and grippers are discussed in detail, along with dynamic modelling and control methods. Then, landing on static and dynamic platforms is discussed. Subsequently, risks such as weather conditions, state estimation and collision avoidance to ensure safe transit is considered. Finally, delivery UAV routing is investigated which categorises the topic into two areas: drone operations and drone-truck collaborative operations.

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“…The disadvantages of continuums robot are as follows: (1) It is difficult to control multi-degree-of-freedom bending; (2) Most CR's control accuracy is not high; (3) Due to the limitation of robot structure, its load capacity is not high. Srikanth et al [22] divided the continuum models into the following categories: Single segment [23][24][25], Multisegment [26][27][28], Single segment-multidisc [29][30][31], Multi segment-multidisc [32][33][34] and Continuous structure [35][36][37]. Among them, the body of single segment continuum robots consists of a single backbone-like structure with limited constant curvature freedom of motion.…”

Section: Structural Design and Characteristicsmentioning

confidence: 99%

Recent Advances in Design and Actuation of Continuum Robots for Medical Applications

Zhong

2020

Actuators

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Traditional rigid robot application in the medical field is limited due to the limited degrees of freedom caused by their material and structure. Inspired by trunk, tentacles, and snakes, continuum robot (CR) could traverse confined space, manipulate objects in complex environment, and conform to curvilinear paths in space. The continuum robot has broad prospect in surgery due to its high dexterity, which can reach circuitous areas of the body and perform precision surgery. Recently, many efforts have been done by researchers to improve the design and actuation methods of continuum robots. Several continuum robots have been applied in clinic surgical interventions and demonstrated superiorities to conventional rigid-link robots. In this paper, we provide an overview of the current development of continuum robots, including the design principles, actuation methods, application prospect, limitations, and challenge. And we also provide perspective for the future development. We hope that with the development of material science, Engineering ethics, and manufacture technology, new methods can be applied to manufacture continuum robots for specific surgical procedures.

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Continuum Robots for Manipulation Applications: A Survey

Cited by 84 publications

References 186 publications

Characterization and Analysis of Extensile Fluidic Artificial Muscles

Characterization and Analysis of Extensile Fluidic Artificial Muscles

Autonomous Aerial Delivery Vehicles, a Survey of Techniques on how Aerial Package Delivery is Achieved

Recent Advances in Design and Actuation of Continuum Robots for Medical Applications

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