Three module lumped element model of a continuum arm section

Giri, Nivedhitha; Walker, Ian D.

doi:10.1109/iros.2011.6094909

Cited by 37 publications

(22 citation statements)

References 22 publications

(25 reference statements)

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“…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. Qiu et al [26] presented a repelling-screw based approach to model the reaction force of origami-inspired continuum robots when they are deformed.…”

Section: Introductionmentioning

confidence: 99%

“…Dynamic models using the Cosserat rod theory only considered static solutions, moreover, they simplified the robot to a planar or spatial curve where external loads or actuating forces cannot be accounted for appropriately [23]. The mass-spring system used in [24] and [25] can reflect the dynamic behaviors of soft bodies but was limited to the planar cases. The 3-D model reported in [27] is still within the scope of rigid body dynamics, and therefore has difficulties in describing elastic deformation.…”

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confidence: 99%

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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%

mentioning

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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“…When used for relatively few rigid segments, lumped models avoid the complex expressions intrinsic in continuum arms to yield efficient results (Giri and Walker, 2011;Khalil et al, 2007). However, to accurately resemble the smooth bending of continuum arms many segments are required (Zheng et al, 2012), significantly increasing the overall degrees of freedom (DoF) in contrast to actual number of controlled joint variables.…”

Section: Introductionmentioning

confidence: 99%

Dynamics for variable length multisection continuum arms

Godage

Medrano-Cerda

Branson

et al. 2015

The International Journal of Robotics Research

127

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Variable length multisection continuum arms are a class of continuum robotic manipulators that generate motion by structural mechanical deformation. Unlike most continuum robots, the sections of these arms do not have (central) supporting flexible backbone, and are actuated by multiple variable length actuators. Because of the constraining nature of actuators, the continuum sections can bend and/or elongate (compress) depending on the elongation/contraction characteristics of the actuators being used. Continuum arms have a number of distinctive differences with respect to traditional rigid arms namely: smooth bending, high inherent compliance, and adaptive whole arm grasping. However, due to numerical instability and the complexity of curve parametric models, there are no spatial dynamic models for multisection continuum arms. This paper introduces novel spatial dynamics and applies these to variable length multisection continuum arms with any number of sections. An efficient recursive computational scheme for deriving the equations of motion is presented. This is applied in a general form based on structurally accurate and numerically well posed modal kinematics that assumes circular arc deformation of continuum sections without torsion. It is shown that the proposed modal dynamics are highly scalable, producing efficient and accurate numerical results. The spatial dynamic simulation results are experimentally validated using a pneumatic muscle actuated multisection prototype continuum arm. For the first time this enables investigation of spatial dynamic effects in this class of continuum arms.

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“…no link deformation during motion), modeling continuum arms is challenging and there are two main approaches: lumped approximation and 'true' continuum shape modeling. [3] Lumped approaches such as [14,31] reflect the natural transition from rigid-linked to continuum arm modeling, but they require many virtual DoFs to accurately represent continuum sections. Because of the redundancy, this poses computational problems particularly for inverse kinematics employing iterative methods.…”

Section: Kinematic Modelingmentioning

confidence: 99%

A novel continuum robotic cable aimed at applications in space

et al. 2015

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We introduce a new class of long and thin continuum robots intended for use in space applications. This 'cable' robot is a next-generation version of the current state of the art (NASA's 'Tendril'). The article describes the key practical limitations of the mechanical design of 'Tendril'. We introduce the design specifics of our novel concept for a next-generation device with significantly enhanced performance. Equipped with a light and compact motor-encoder actuation mechanism, the new design has improved compliance and possesses a concentric backbone arrangement which is tendon-actuated and spring-loaded. A new forward kinematic model is developed extending the established models for constant-curvature continuum robots, to account for the new design feature of controllable compression (in the hardware). The model is validated by performing experiments with a three-section prototype of the design. The new model is found to be effective as a baseline to predict the performance of such long and thin continuum 'cable' robots.

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Three module lumped element model of a continuum arm section

Cited by 37 publications

References 22 publications

Design of a Pneumatic Muscle Based Continuum Robot With Embedded Tendons

Design of a Pneumatic Muscle Based Continuum Robot With Embedded Tendons

Dynamics for variable length multisection continuum arms

A novel continuum robotic cable aimed at applications in space

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