Modeling of notched variable stiffness continuum flexible Snake-like Robot

Huang, Juwei; Wang, Hongwei; Cui, Long; Tian, Shaopeng; Feng, Zhiyong

doi:10.1109/cacs.2018.8606745

Cited by 8 publications

(8 citation statements)

References 13 publications

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“…is introduced, the state space form of the robot model is (25). As long as thë θ andp in (25) are solved, the thrust (v, τ ) of each joint of the multi-joint snake-like robot can be easily solved.…”

Section: Mẍmentioning

confidence: 99%

“…According to (25), the relationship between the rotation angle θ(t) of the link joint and the forward thrust (v, τ ) is obtained, as shown in Fig.12. As can be seen from Fig.12 that (v, τ ) takes an extreme value at θ j (t) = ± π 4 .…”

Section: Improvement Of Serpenoid Curve Equationmentioning

confidence: 99%

“…The motion of the multijoint snake-like robot also exists in the two-dimensional plane. The study of the two-dimensional gait of a robot can lay a solid theoretical foundation for the study of the threedimensional gait of a robot [24], [25].…”

Section: Introductionmentioning

confidence: 99%

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Motion Planning Algorithm of a Multi-Joint Snake-Like Robot Based on Improved Serpenoid Curve

Wang

Deng

et al. 2020

IEEE Access

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In order to study the winding motion of a multi-joint snake-like robot with multi-degree of redundancy in plane, a motion planning algorithm of a multi-joint snake-like robot based on improved Serpenoid curve equation is proposed in this paper. Firstly, the kinematics and dynamics models of a multijoint snake-like robot are established, and the joint angle curve equation and the thrust expression of each joint of the robot relative to time are obtained. Next, the existing Serpenoid curve equation is improved to calculate the axial bending moment function with joint angle amplitude adjustment factor and turn angle adjustment factor. By analyzing the relationship between the forward thrust of the robot and the improved Serpenoid curve equation, a simple, efficient and reliable closed-loop control system was designed. Then, MATLAB and SimWise4D were used for simulation to obtain the motion trajectory of the robot based on the improved Serpenoid curve motion planning algorithm, and the influence of different parameters on the forward velocity of the multi-joint snake robot was analyzed. Finally, the validity of the motion planning algorithm of a multi-joint snake-like robot based on improved Serpenoid curve equation is verified by the actual experiment. INDEX TERMS Multi-joint snake-like robot, serpenoid curve, axial bending moment, closed-loop control.

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Section: Mẍmentioning

confidence: 99%

Section: Improvement Of Serpenoid Curve Equationmentioning

confidence: 99%

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Motion Planning Algorithm of a Multi-Joint Snake-Like Robot Based on Improved Serpenoid Curve

Wang

Deng

et al. 2020

IEEE Access

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“…In this regard, some studies have used FEA to improve the design of the joint structures [24][25][26][27]. For instance, Park et al [24] and Wu et al [25] evaluated the design optimization by changing the thickness of the hinge using FEA.…”

Section: Introductionmentioning

confidence: 99%

“…For instance, Park et al [24] and Wu et al [25] evaluated the design optimization by changing the thickness of the hinge using FEA. Huang et al [26] studied the structural behavior of the snake-like mechanism depending on the dimensions of individual joints and sought to achieve a particular curvature. Furthermore, the thickness of the hinge varies along the structure.…”

Section: Introductionmentioning

confidence: 99%

Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps

et al. 2022

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Gastrointestinal cancer, when detected early, is treated by accessing the lesion through the natural orifice using flexible endoscopes. However, the limited degree-of-freedom (DOF) of conventional treatment devices and the narrow surgical view through the endoscope demand advanced techniques. In contrast, multi-DOF forceps systems are an excellent alternative; however, these systems often involve high fabrication costs because they require a large number of micro-parts. To solve this problem, we designed compact multi-DOF endoluminal forceps with a monolithic structure comprising compliant hinges. To allow an efficient stress dispersion at the base end when the hinge bends, we proposed a novel design method to obtain the hinge parameters using the beam of uniform strength theory. This method does not involve a high computational cost. The results show that the improved design with a variable hinge thickness can reduce the maximum bending stress, dispersing the stress in a larger area than that of the previous design considering a constant thickness of the hinge. Moreover, the experiments conducted in a prototype confirm that the radius of the curvature was significantly improved. The proposed method could aid in designing other continuum robots relying on compliant hinges.

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Development and validation of an automated FEM-based design optimization tool for continuum compliant structures

Coemert

Yalvac

Bott

et al. 2020

Int J Mech Mater Des

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This paper presents a design optimization method for continuum compliant structures. The developed optimization tool enables automated design, analysis and optimization of the compliant structures in a single simulation environment. The associated algorithm used automatically analyses the stress distribution occurring under certain loading and deformation conditions of initial designs defined by the user, adjusts a uniform stress distribution among individual flexure hinges by automated dimensioning and finalizes the design by integrating mechanical stops automatically matched with the kinematic capacity of individual hinges. In order to prove the advantages of the proposed optimization method, validation tests were performed under static and dynamic loading conditions. Results of the experiments showed that, compared to the non-optimized ones, optimized structures with the developed tool exhibit more uniform curvatures which indicate more even stress distribution among the individual hinges; up to 25% value increase in terms of maximum bearable load and maximum permissible deflection angle; less plastic deformation in case of overloading and up to 100% increased fatigue life.

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Modeling of notched variable stiffness continuum flexible Snake-like Robot

Cited by 8 publications

References 13 publications

Motion Planning Algorithm of a Multi-Joint Snake-Like Robot Based on Improved Serpenoid Curve

Motion Planning Algorithm of a Multi-Joint Snake-Like Robot Based on Improved Serpenoid Curve

Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps

Development and validation of an automated FEM-based design optimization tool for continuum compliant structures

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