3D Control for a Tronconic Tentacle

Boccolato, Giuseppe; Dinulescu, Ionut; Predescu, Alice; Manta, Liviu Florin; Dumitru, Sorin; Cojocaru, Dorian

doi:10.1109/uksim.2010.77

Cited by 5 publications

(3 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The disadvantages of continuums robot are as follows: (1) It is difficult to control multi-degree-of-freedom bending; (2) Most CR's control accuracy is not high; (3) Due to the limitation of robot structure, its load capacity is not high. Srikanth et al [22] divided the continuum models into the following categories: Single segment [23][24][25], Multisegment [26][27][28], Single segment-multidisc [29][30][31], Multi segment-multidisc [32][33][34] and Continuous structure [35][36][37]. Among them, the body of single segment continuum robots consists of a single backbone-like structure with limited constant curvature freedom of motion.…”

Section: Structural Design and Characteristicsmentioning

confidence: 99%

Recent Advances in Design and Actuation of Continuum Robots for Medical Applications

Zhong

2020

Actuators

View full text Add to dashboard Cite

Traditional rigid robot application in the medical field is limited due to the limited degrees of freedom caused by their material and structure. Inspired by trunk, tentacles, and snakes, continuum robot (CR) could traverse confined space, manipulate objects in complex environment, and conform to curvilinear paths in space. The continuum robot has broad prospect in surgery due to its high dexterity, which can reach circuitous areas of the body and perform precision surgery. Recently, many efforts have been done by researchers to improve the design and actuation methods of continuum robots. Several continuum robots have been applied in clinic surgical interventions and demonstrated superiorities to conventional rigid-link robots. In this paper, we provide an overview of the current development of continuum robots, including the design principles, actuation methods, application prospect, limitations, and challenge. And we also provide perspective for the future development. We hope that with the development of material science, Engineering ethics, and manufacture technology, new methods can be applied to manufacture continuum robots for specific surgical procedures.

show abstract

Section: Structural Design and Characteristicsmentioning

confidence: 99%

Recent Advances in Design and Actuation of Continuum Robots for Medical Applications

Zhong

2020

Actuators

View full text Add to dashboard Cite

show abstract

“…The robot has eight DOF, and can grasp the object of certain weight. Boccolato developed a tentacle-like robotic arms driven by three cables, can efficiently simulate the motion of octopus tentacles, which is consisted of three sections elastic pillars, and has six DOF [7] . The continuum robot of internal drivding achieve the motion by using the pneumatic muscles and the shape memory alloy.…”

Section: Introductionmentioning

confidence: 99%

Research on Kinematic Modeling of Octopus-Like Arm Manipulator Composed with Mixed Joints

Zhao

Qian

2013

AMM

View full text Add to dashboard Cite

Due to the space constraints and obstacles, the traditional industrial manipulator is too difficult to achieve some tasks, such as the gluing for the wing bulkhead of the aircraft and the maintenance for cooling pipes of the nuclear power plant, etc. Continuum manipulator, inspired by the trunk and the tentacle, proves to be very effective for above-mentioned tasks. A novel octopus-like biomimetic robots, is proposed in this paper, which is consisting of continuum joints and discrete joints, and provide a host of benefits, such as the large space of movement, the high flexibility and the heavy load. A novel analytical approach for solving kinematics of the octopus-like arm manipulator with mixed joints is presented in this paper. Based on the bionic mechanism of the continuum manipulator constructed from mixed joints, the robot configuration is established. In this paper, we present a detailed formulation and explanation of a novel kinematic model for the continuum robots with mixed joints. The modeling method based on the Denavit–Hartenberg parameters(also called DH parameters) is used to depict the motion of robot. The robot is comprised of the continuum joint and the rotated joint, so the kinematic model of continuum joint is crucial for constructing that of the whole robot. The continuum joint is equivalent to a section of elastic body, whose D-H parametors can be obtain from the constant-curvature method. Then the forward kinematics of the whole robot can be builded in a D-H frame. Research results will create a new modeling method for the octopus-like continuum manipulators with mixed joints, which can give a new approach for the design on the biomimetic manipulators operating in the unstructured envirement.

show abstract

“…Drive mechanism: (a) tendon alignment[87], (b) electric motor[162]-tendon, and (c) pneumatic[16]-nontendon.…”

mentioning

confidence: 99%

Continuum Robots for Manipulation Applications: A Survey

Kolachalama

Lakshmanan

2020

Journal of Robotics

View full text Add to dashboard Cite

This paper presents a literature survey documenting the evolution of continuum robots over the past two decades (1999–present). Attention is paid to bioinspired soft robots with respect to the following three design parameters: structure, materials, and actuation. Using this three-faced prism, we identify the uniqueness and novelty of robots that have hitherto not been publicly disclosed. The motivation for this study comes from the fact that continuum soft robots can make inroads in industrial manufacturing, and their adoption will be accelerated if their key advantages over counterparts with rigid links are clear. Four different taxonomies of continuum robots are included in this study, enabling researchers to quickly identify robots of relevance to their studies. The kinematics and dynamics of these robots are not covered, nor is their application in surgical manipulation.

show abstract

3D Control for a Tronconic Tentacle

Cited by 5 publications

References 6 publications

Recent Advances in Design and Actuation of Continuum Robots for Medical Applications

Recent Advances in Design and Actuation of Continuum Robots for Medical Applications

Research on Kinematic Modeling of Octopus-Like Arm Manipulator Composed with Mixed Joints

Continuum Robots for Manipulation Applications: A Survey

Contact Info

Product

Resources

About