Design, modeling and evaluation of a millimeter-scale SMA bending actuator with variable length

Chen, Jianghua; Ding, Qingpeng; Kim, Yeongjin; Cheng, Shing Shin

doi:10.1177/1045389x211038702

Cited by 5 publications

(1 citation statement)

References 40 publications

(43 reference statements)

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“…High precision, subminiature design, Additional large magnetic field [10,17,[51][52][53] and fast response generating equipment, limited motion range, and single motion form SMA Self-sensing, simpler in structure, High-temperature risk, and [1,24,[43][44][45][46][47][48][49][50] smaller, and lighter additional cooling devices to increase response speed DEA Self-sensing, lighter, High driving voltage, smaller [4,16,[37][38][39][40][41][42] large deformation, and fast response output force, and risk of leakage currents were verified by experiments. Finally, a series of application demos were carried out to demonstrate the operational performance of the continuum robot and proved that it had good dexterity and compliance.…”

Section: Magnetic Actuationmentioning

confidence: 99%

A bioinspired fishbone continuum robot with rigid-flexible-soft coupling structure

Zhou¹,

Yao²,

Zhang³

et al. 2022

Bioinspir. Biomim.

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Rigid-flexible-soft coupled robots are an important development direction of robotics, which face many theoretical and technical challenges in design, manufacturing, and modeling. Inspired by fishbones, we propose a novel cable-driven single-backbone continuum robot which has compact structure, light weight, and high dexterity. Different from the existing single-backbone continuum robot, the middle backbone of the continuum robot is serially formed by multiple cross-arranged bioinspired fishbone units. The proposed bioinspired fishbone unit having good one-dimensional bending properties is a special rigid-flexible-soft structure mainly made by multi-material 3D printing technology. The unique design and manufacturing of the middle backbone bring the continuum robot excellent constant curvature characteristics and reduce the coupling between different motion dimensions, laying a foundation for the continuum robot to have a more accurate theoretical model as well as regular and controllable deformation. Moreover, we build the forward and inverse kinematics model based on the geometric analysis method, and analyze its workspace. Further, the comparison between the experimental and theoretical results shows that the prediction errors of the kinematics model are within desired 0.5 mm. Also, we establish the relation between the cable driving force of the bioinspired fishbone unit and its bending angle which can provide a guidance for the optimization of the continuum robot in the future. The application demos prove that the continuum robot has good dexterity and compliance, and can perform tasks such as obstacle crossing locomotion and narrow space transportation. This work provides new ideas for the bioinspired design and high-precision modeling of continuum robots.

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Section: Magnetic Actuationmentioning

confidence: 99%

A bioinspired fishbone continuum robot with rigid-flexible-soft coupling structure

Zhou¹,

Yao²,

Zhang³

et al. 2022

Bioinspir. Biomim.

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Design and analysis of a continuum manipulator for use in narrow spaces

Qi,

Bai,

Dou

et al. 2023

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Purpose This paper aims to present a kinematics analysis method and statics based control of the continuum robot with mortise and tenon joints to achieve better control performance of the robot. Design/methodology/approach The kinematics model is derived by the geometric analysis method under the piecewise constant curvature assumption, and the workspace and dexterity of the proposed robot are analyzed to optimize its structure parameters. Moreover, the statics model is established by the principle of virtual work, which is used to analyze the mapping relationship between the bending deformation and the applied forces/torques. To improve the control accuracy of the robot, a model-based controller is put forward. Findings Results of the experiments verify the feasibility of the proposed continuum structure and the correctness of the established model and the control method. The force deviation between the theoretical value and the actual value is relatively small, and the mean value of the deviation between the driving forces is only 0.46 N, which verify the established statics model and the controller. Originality/value The proposed model and motion controller can realize its accurate bending control with a few deviations, which can be used as the reference for the motion planning and dynamic model of the continuum robot.

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A Variable Length, Variable Stiffness Flexible Instrument for Transoral Robotic Surgery

Chen

Ding

Yan

et al. 2022

IEEE Robot. Autom. Lett.

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Design, modeling and evaluation of a millimeter-scale SMA bending actuator with variable length

Cited by 5 publications

References 40 publications

A bioinspired fishbone continuum robot with rigid-flexible-soft coupling structure

A bioinspired fishbone continuum robot with rigid-flexible-soft coupling structure

Design and analysis of a continuum manipulator for use in narrow spaces

A Variable Length, Variable Stiffness Flexible Instrument for Transoral Robotic Surgery

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