Static Modeling of Multisection Soft Continuum Manipulator for Stiff-Flop Project

Fraś, Jan; Czarnowski, Jan; Maciaś, Mateusz; Główka, Jakub

doi:10.1007/978-3-319-05353-0_35

Cited by 22 publications

(18 citation statements)

References 8 publications

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“…1) Lumped system Lagrange dynamics with discrete VC kinematics, similar to a series rigid link mechanism, where a series of finite or infinite number of rigid disks are interconnected using compliant joints [10]. 2) Euler-Bernoulli beam mechanics with CC [11] or discrete VC kinematics [12]. 3) Continuum form of Lagrange dynamics [8], [13] or the Principle of Virtual Work (PVW) [14], [15] using CC, continuous VC or series-solutions as kinematic maps, where the kinematic map parameters are the dynamic model states.…”

mentioning

confidence: 99%

Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods

Sadati

Naghibi

Walker

et al. 2018

IEEE Robot. Autom. Lett.

110

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Abstract-To address the challenges with real-time accurate modeling of multi-segment continuum manipulators in presence of significant external and body loads, we introduce a novel series solution for variable-curvature Cosserat rod static and Lagrangian dynamic method. By combining a modified Lagrange polynomial series solution, based on experimental observations, with Ritz and Ritz-Galerkin methods, the infinite modeling state space of a continuum manipulator is minimized to geometrical position of a handful of physical points (in our case two). As a result, a unified easy to implement vector formalism is proposed for nonlinear impedance and configuration control. We showed that by considering the mechanical effects of axial highly elastic deformation, the model accuracy is increased by up to 6%. The proposed model predicts experimental results with 6-8% (4-6 [mm]) mean error for the Ritz-Galerkin method in static cases and 16-20% (12-14 [mm]) mean error for the Ritz method in dynamic cases, in planar and general 3D motions. Comparing to five different models in the literature, our approximate solution showed to be more accurate with the smallest possible number of modeling states and suitable for real-time modeling, observation and control applications.

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mentioning

confidence: 99%

Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods

Sadati

Naghibi

Walker

et al. 2018

IEEE Robot. Autom. Lett.

110

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“…In addition, we will mathematically describe the behaviour and motion of a single antagonistically actuated soft manipulator. This model will be based on beam theory as proposed in [36]: the manipulator is divided into a series of layers whose kinematic change due to the effect of internal forces (from pressurised air and from tension applied by tendons) and externally applied forces. The layers are then superpositioned to describe the manipulator's tip position and orientation in space.…”

Section: Discussionmentioning

confidence: 99%

Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator

Shiva

Stilli

Noh

et al. 2016

IEEE Robot. Autom. Lett.

164

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Abstract-There is an emerging trend towards soft robotics due to its extended manipulation capabilities compared to traditionally rigid robot links, showing promise for an extended applicability to new areas. However, as a result of the inherent property of soft robotics being less rigid, the ability to control/obtain higher overall stiffness when required is yet to be further explored. In this paper, an innovative design is introduced which allows varying the stiffness of a continuum silicon-based manipulator and proves to have potential for applications in Minimally Invasive Surgery. Inspired by muscular structures occurring in animals such as the octopus, we propose a hybrid and inherently antagonstic actuation scheme. In particular, the octopus makes use of this principle activating two sets of muscles -longitudinal and transverse musclesthus, being capable of controlling the stiffness of parts of its arm in an antagonistic fashion. Our designed manipulator is pneumatically actuated employing chambers embedded within the robot's silicone structure. Tendons incorporated in the structure complement the pneumatic actuation placed inside the manipulator's wall to allow variation of overall stiffness. Experiments are carried out by applying an external force in different configurations while changing the stiffness by means of the two actuation mechanisms. Our test results show that dual, antagonistic actuation increases the load bearing capabilities for soft continuum manipulators and thus their range of applications.

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“…Supposing that the length is constant value, when length increases, 44 and 55 also increase, which are directly proportional to 4 . By (27), assuming that and are constant values, it can be seen that when length increases, but 66 decreases, obviously, 66 is inversely proportional to . Supposing that and are constant values, when length increases, 66 decreases.…”

Section: Analysis Of Stiffness Elementsmentioning

confidence: 99%

“…Camarillo et al [26] proposed a new linear model for transforming desired beam configuration to tendon displacements and vice versa. Fras et al [27] described the design and implementation of a static model used for position estimation of a flexible modular medical manipulator equipped with optic-fiber based sensors. Till and Rucker [28] exhibited low numerical damping, handled arbitrarily large time steps, and provided an accurate, high-order representation of the rod shape in steady state.…”

Section: Introductionmentioning

confidence: 99%

Research on Stiffness of Multibackbone Continuum Robot Based on Screw Theory and Euler-Bernoulli Beam

Wang

2018

Mathematical Problems in Engineering

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Continuum robots have become a focus for extensive research, since they can work well in complex and confined environments. The main contribution of this paper is to establish a stiffness model of a single section multibackbone continuum robot and analyze the effect of the structural parameters of continuum robot on the overall rotation and translation stiffness. First, a stiffness model which indicates the end configuration of continuum robot under external load is deduced by the screw theory and Euler-Bernoulli beam. Then, the stiffness elements are fully analyzed, therefore, obtaining the influence of the structural parameters of continuum robot on the stiffness elements. Meanwhile, a numerical analysis of stiffness elements is given. Furthermore, the minimum and maximum rotation/translation stiffness are introduced to analyze the effect of the structural parameters of continuum robot on the overall rotation and translation stiffness. Finally, the experiments are used to validate the proposed stiffness model. The experimental results show that the proposed stiffness model of continuum robot is correct and the errors are less than 7%.

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Static Modeling of Multisection Soft Continuum Manipulator for Stiff-Flop Project

Cited by 22 publications

References 8 publications

Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods

Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods

Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator

Research on Stiffness of Multibackbone Continuum Robot Based on Screw Theory and Euler-Bernoulli Beam

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