Three dimensional statics for continuum robotics

Jones, Bryan A.; Gray, Ricky L.; Turlapati, Krishna

doi:10.1109/iros.2009.5354199

Cited by 113 publications

(79 citation statements)

References 18 publications

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“…Later they extended this method to consider the potential energy including the gravitational and elastic potential energy [22]. Jones et al [23] used the Cosserat rod theory to analyze the 3-D statics for continuum robots. Giri et al [24] and Yekutieli et al [25] used the mass-spring system to model octopus-tentacle-like robots in 2-D space.…”

Section: Introductionmentioning

confidence: 99%

Design of a Pneumatic Muscle Based Continuum Robot With Embedded Tendons

Kang

Guo

Chen

et al. 2017

IEEE/ASME Trans. Mechatron.

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A note on versions:The version presented here may differ from the published version or from the version of record. If you wish to cite this item you are advised to consult the publisher's version. Please see the repository url above for details on accessing the published version and note that access may require a subscription.For more information, please contact eprints@nottingham.ac.uk 1083-4435 (c) 2016 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information. This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TMECH.2016.2636199, IEEE/ASME Transactions on Mechatronics > REPLACE THIS LINE WITH YOUR PAPER IDENTIFICATION NUMBER (DOUBLE-CLICK HERE TO EDIT) < 1 Abstract -Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance that allows for dexterous and safe movements. However, the inherent compliance in such systems reduces the structural stiffness, and therefore leads to the issue of reduced positioning accuracy. This paper presents the design of a continuum robot employing tendon embedded pneumatic muscles (TEPMs). The pneumatic muscles are used to achieve large scale movements for preliminary positioning while the tendons are used for fine adjustment of position. Such hybrid actuation offers the potential to improve the accuracy of the robotic system, while maintaining large displacement capabilities. A 3-dimensional (3-D) dynamic model of the robot is presented using a mass-damper-spring based network, in which elastic deformation, actuating forces and external forces are taken into account. The design and dynamic model of the robot are then validated experimentally with the help of an electromagnetic tracking system. Index Terms -Continuum robots, Pneumatic muscles, Embedded tendons, Hybrid actuation I. INTRODUCTIONonventional robots employing rigid links connected by actuated joints have been used extensively in industry where high stiffness and fast dynamics are required. However, their motions are significantly constrained by the limited number of degrees-of-freedom (DOF) and minimal deformation at the joints and links. In recent years increasing demand for highly dexterous and human-friendly manipulation has encouraged the developments of continuum robots inspired by soft organs in nature such as the elephant trunk, octopus tentacle, etc. Such robots are constructed with soft or semi-soft materials, and therefore have a continuously deformable body and large number of DOF. This means that they are able to adapt to unstructured environments to perform tasks such as Manuscript received XX-XX-2016. This work was supported by the Natural Science Foundation of China (Grant No. 51375329, No.51605329 and No. 51611130202) Dai et al. [9] presented a continuum robot with integrated origami struc...

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Section: Introductionmentioning

confidence: 99%

Design of a Pneumatic Muscle Based Continuum Robot With Embedded Tendons

Kang

Guo

Chen

et al. 2017

IEEE/ASME Trans. Mechatron.

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“…[18]. Recent literatures have used it to describe the deflection of DITA-DMs under the quasi-statics condition successfully [19,20]. In this section, it will be used to solve the deflection of DITA-DMs with discrete tendon interactions including friction effects.…”

Section: Shape Prediction Based On Beam Theorymentioning

confidence: 99%

A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators

Gao

Zou

Wang

et al. 2017

Journal of Mechanisms and Robotics

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Continuum robots present the great dexterity and compliance as dexterous manipulators to accomplish complex positioning tasks in confined anatomy during minimally invasive surgery. Tendon actuation is one of the most popular approaches, which is to insert the tendon to eccentrically go through and interact with the flexible backbone to accomplish compliant bends. However, hysteresis of tip trajectory of tendon actuated dexterous manipulators (TA-DMs) has been observed during the loading and unloading procedure, which is mainly caused by the hindered friction at discrete interactions between the actuation tendon and conduits. This paper aims to propose a general friction model to describe the interactions and friction profile at the multiple discrete contact points for tendon actuated dexterous manipulators under the history-dependent tendon tension. The friction model was integrated into the beam theory to describe the hysteresis and loading history-dependent behavior by solving the profiles of tendon force, normal force, and friction force, as well as the deflection of the dexterous manipulator. Experiments were carried out to validate the effectiveness of the proposed friction model. Results indicate that the friction model can successfully describe the discrete interaction and predict the deflection of dexterous manipulator subject to the different tendon loading histories. Furthermore, the effects of discrete friction to the tendon force propagation and the loading history-dependent behavior are discussed.

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“…Some researchers adopted overall modelling to map driving force and deformation using diverse theorems: energy method such as the principle of virtue power and the transformation of potential energy (Tatlicioglu et al, 2007;Rone and Ben-Tzvi, 2014), Cosserat rod theory (Jones et al 2009;Rucker and Iii, 2011;Giorelli et al, 2012), constant curvature assumption (Camarillo et al, 2008;York et al, 2015;Wu et al, 2017), etc. Moreover, some researchers established a unit model first and then built an integrate deformation model considering unit kinematics and mechanics character (Du et al, 2015b;Kato et al, 2015).…”

Section: Introductionmentioning

confidence: 99%

Hysteresis analysis of a notched continuum manipulator driven by tendon

Yang

Dong

et al. 2018

Mech. Sci.

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Abstract. Continuum manipulators are widely used in minimally invasive surgical robot systems (MISRS) because of their flexibility and compliance, while their modelling and control are relatively difficult and complex. This paper proposes an improved hysteresis model of a notched continuum manipulator based on the classical Bouc-Wen model, which can reduce errors and increase the accuracy of the kinematic-mechanics coupled model. Then parameters are identified by the mean of genetic algorithm (GA). Hysteresis phenomenon of the mentioned manipulator is actually caused by many factors such as the hysteresis property of Hyperelastic Nitinol Alloy (HNA), the elastic deformation of tendon and the friction between the tendon and the tube. The results of both static and dynamic experiments show that the introduced hysteresis model can eliminate the positional difference between forward and reverse bending processes, and thus improve the forecast precision of deformation during motion. This model can also be used to compensate modelling errors caused by hysteresis of other similar systems.

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Three dimensional statics for continuum robotics

Cited by 113 publications

References 18 publications

Design of a Pneumatic Muscle Based Continuum Robot With Embedded Tendons

Design of a Pneumatic Muscle Based Continuum Robot With Embedded Tendons

A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators

Hysteresis analysis of a notched continuum manipulator driven by tendon

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