A comprehensive static model of cable-driven multi-section continuum robots considering friction effect

被引：95
作者：
Yuan, Han [1 ]
Zhou, Lili [2 ]
Xu, Wenfu [1 ,3 ]
机构：
[1] Harbin Inst Technol Shenzhen, Sch Mech Engn & Automat, Shenzhen 518055, Peoples R China
[2] Shenzhen Polytech, Sch Automot & Transportat Engn, Shenzhen 518055, Peoples R China
[3] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Heilongjiang, Peoples R China
来源：
MECHANISM AND MACHINE THEORY | 2019年 / 135卷
基金：
中国国家自然科学基金;
关键词：
Continuum robots; Static modeling; Friction effect; Three dimensional motion; Multi-section robots; DYNAMICS; KINEMATICS; MECHANICS; DESIGN; SYSTEM;
D O I：
10.1016/j.mechmachtheory.2019.02.005
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Continuum robots featured by super dexterity and flexibility are excellent candidates for operations in confined environments. However, accurate modeling of continuum robots has been a challenge due to their large structural elasticity, attracting many research interests recently. This paper presents a comprehensive static model for continuum robots, considering most of the common forces and moments applied to the robot by both its own actuators and the external environments. Experimental results based on 68 tests show that the proposed model has high accuracy in describing the in-plane robot profile, but have certain errors for out-of-plane deformations. The average root-mean-square-error of the proposed model is 1.26 mm, which accounts for 1.82% of the total robot length. Moreover, the friction effect is investigated. Results show that actuating frictions could obviously change the robot deflection, and the static continuum robot shape is relevant to the historical cable tension status. Consequently, friction is vital to improve the static modeling accuracy of continuum robots. (C) 2019 Elsevier Ltd. All rights reserved.
引用
收藏
页码：130 / 149
页数：20
相关论文
共 35 条
  • [1] Hybrid motion/force control of multi-backbone continuum robots
    Bajo, Andrea
    Simaan, Nabil
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2016, 35 (04) : 422 - 434
  • [2] Nuclear snake-arm robots
    Buckingham, Rob
    Graham, Andrew
    [J]. INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL, 2012, 39 (01) : 6 - 11
  • [3] Continuum Robots for Medical Applications: A Survey
    Burgner-Kahrs, Jessica
    Rucker, D. Caleb
    Choset, Howie
    [J]. IEEE TRANSACTIONS ON ROBOTICS, 2015, 31 (06) : 1261 - 1280
  • [4] Mechanics Modeling of Tendon-Driven Continuum Manipulators
    Camarillo, David B.
    Milne, Christopher F.
    Carlson, Chfistopher R.
    Zinn, Michael R.
    Salisbury, J. Kenneth
    [J]. IEEE TRANSACTIONS ON ROBOTICS, 2008, 24 (06) : 1262 - 1273
  • [5] Design and Control of Concentric-Tube Robots
    Dupont, Pierre E.
    Lock, Jesse
    Itkowitz, Brandon
    Butler, Evan
    [J]. IEEE TRANSACTIONS ON ROBOTICS, 2010, 26 (02) : 209 - 225
  • [6] Mechanical Model of Dexterous Continuum Manipulators With Compliant Joints and Tendon/External Force Interactions
    Gao, Anzhu
    Murphy, Ryan J.
    Liu, Hao
    Iordachita, Iulian I.
    Armand, Mehran
    [J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2017, 22 (01) : 465 - 475
  • [7] Large deflection dynamics, and control for planar continuum robots
    Gravagne, IA
    Rahn, CD
    Walker, ID
    [J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2003, 8 (02) : 299 - 307
  • [8] Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots
    Hannan, MW
    Walker, ID
    [J]. JOURNAL OF ROBOTIC SYSTEMS, 2003, 20 (02): : 45 - 63
  • [9] Statics of Continuum Space Manipulators With Nonconstant Curvature via Pseudorigid-Body 3R Model
    Huang, Shaoping
    Meng, Deshan
    She, Yu
    Wang, Xueqian
    Liang, Bin
    Yuan, Bo
    [J]. IEEE ACCESS, 2018, 6 : 70854 - 70865
  • [10] Jinwoo Jung, 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), P5139, DOI 10.1109/IROS.2011.6048628
1234