Design and Analysis of a Novel Variable Stiffness Continuum Robot With Built-in Winding-Styled Ropes

Wang, Peiyi; Guo, Sheng; Wang, Xiangyang; Wu, Yifan

doi:10.1109/lra.2022.3171917

Cited by 22 publications

(7 citation statements)

References 33 publications

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“…Design-stage stiffness variation involves pre-defining the structure of the continuum robot (CR) to achieve a specific stiffness, with the robot's parameters determined accordingly. On the other hand, stiffness changes during operation can be achieved through various mechanisms, such as actuation of antagonistic tendon pairs, the curvature-constraining rod method [150], using phase changing materials [191,192], and jamming methods [146,157,193,194]. When an application requires a significantly larger length of CM with a better stiffness, a cooperative continuum manipulation approach could be adopted to modulate the stiffness.…”

Section: Methods Of Stiffness Adjustment Proceduresmentioning

confidence: 99%

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Uthayasooriyan,

Vanegas,

Jalali

et al. 2024

Drones

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Aerial manipulators have seen a rapid uptake for multiple applications, including inspection tasks and aerial robot–human interaction in building and construction. Whilst single degree of freedom (DoF) and multiple DoF rigid link manipulators (RLMs) have been extensively discussed in the aerial manipulation literature, continuum manipulators (CMs), often referred to as continuum robots (CRs), have not received the same attention. This survey seeks to summarise the existing works on continuum manipulator-based aerial manipulation research and the most prevalent designs of continuous backbone tendon-driven continuum robots (TDCRs) and multi-link backbone TDCRs, thereby providing a structured set of guidelines for fabricating continuum robots for aerial manipulation. With a history spanning over three decades, dominated by medical applications, CRs are now increasingly being used in other domains like industrial machinery and system inspection, also gaining popularity in aerial manipulation. Fuelled by diverse applications and their associated challenges, researchers have proposed a plethora of design solutions, primarily falling within the realms of concentric tube (CT) designs or tendon-driven designs. Leveraging research works published in the past decade, we place emphasis on the preparation of backbones, support structures, tendons, stiffness control, test procedures, and error considerations. We also present our perspectives and recommendations addressing essential design and fabrication aspects of TDCRs in the context of aerial manipulation, and provide valuable guidance for future research and development endeavours in this dynamic field.

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Section: Methods Of Stiffness Adjustment Proceduresmentioning

confidence: 99%

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Uthayasooriyan,

Vanegas,

Jalali

et al. 2024

Drones

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“…Based on the generalized rod-driven GCCR structure, a stiffness adjustment mechanism was proposed that can change the internal frictional force between the drive rods and constraint disks as the robot length changes. This design uses anisotropic distributed cables and geometry relationships to achieve local frictional force, unlike the antagonistic actuators [ 38 ], central-cable-tensioning methods [ 39 ], or other mechanisms actuated by additional actuators [ 29 , 30 ].…”

Section: Stiffness Adjustment Mechanism (Sam)mentioning

confidence: 99%

“…In 2020, Yang et al [ 29 ] established a static model based on virtual work and presented a novel variable stiffness mechanism powered by SMA. In 2022, Wang et al [ 30 ] proposed a novel variable stiffness continuum robot using built-in winding ropes. By controlling the temperature of SMA, a large variable stiffness range of 300% of the robot is achieved.…”

Section: Introductionmentioning

confidence: 99%

Research on Self-Stiffness Adjustment of Growth-Controllable Continuum Robot (GCCR) Based on Elastic Force Transmission

Wang,

Yuan,

Bao

et al. 2023

Biomimetics

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Continuum robots have good adaptability in unstructured and complex environments. However, affected by their inherent nature of flexibility and slender structure, there are challenges in high-precision motion and load. Thus, stiffness adjustment for continuum robots has consistently attracted the attention of researchers. In this paper, a stiffness adjustment mechanism (SAM) is proposed and built in a growth-controllable continuum robot (GCCR) to improve the motion accuracy in variable scale motion. The self-stiffness adjustment is realized by antagonism through cable force transmission during the length change of the continuum robot. With a simple structure, the mechanism has a scarce impact on the weight and mass distribution of the robot and required no independent actuators for stiffness adjustment. Following this, a static model considering gravity and end load is established. The presented theoretical static model is applicable to predict the shape deformations of robots under different loads. The experimental validations showed that the maximum error ratio is within 5.65%. The stiffness of the robot can be enhanced by nearly 79.6%.

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“…An effect similar to integrated forming robot may also be realized by elastic materials throughout the robot together with several guide disks [9]. In flexible robot, in order to improve the performance, memory alloy materials are also adopted, for example, as driving material or supporting material to realize a variable stiffness for robot [9][10][11]. C The Author(s), 2023.…”

Section: Introductionmentioning

confidence: 99%

Design and development of a SLPM-based deployable robot

et al. 2023

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With the progress of industry, people are facing more and more complicated tasks, which cannot be completed by conventional rigid robot. For this, a deployable robot based on spherical linkage parallel mechanism was proposed to satisfy relevant requirements for the degrees of freedom in this study. Based on the design of robot model and its control box, a mathematical model for the robot was established, and the relationship between motion space and drive space was deduced accordingly. Subsequently, a control system consisting of the upper and lower computers was introduced. Two control modes, that is, Joystick control and remote control, were developed. The upper computer control interface for the robot was completed by MATLAB construction. At last, the two control modes as well as autonomous detection were demonstrated by motion test. This achievement will further advance the applications of deployable robot in job aid and intelligent exploration.

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Design and Analysis of a Novel Variable Stiffness Continuum Robot With Built-in Winding-Styled Ropes

Cited by 22 publications

References 33 publications

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Research on Self-Stiffness Adjustment of Growth-Controllable Continuum Robot (GCCR) Based on Elastic Force Transmission

Design and development of a SLPM-based deployable robot

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