A Novel Continuum Manipulator Design Using Serially Connected Double-Layer Planar Springs

Qi, Peng; Qiu, Chengfeng; Liu, Hongbin; Dai, Jian S.; Seneviratne, Lakmal; Althoefer, Kaspar

doi:10.1109/tmech.2015.2498738

Cited by 87 publications

(35 citation statements)

References 41 publications

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“…Assuming that and are constant values, when length increases, 11 and 33 also increase. By (23), assuming that and are constant values, when length increases, 22 also increases, as shown Figure 3.…”

Section: Analysis Of Stiffness Elementsmentioning

confidence: 95%

“…By (22), (23), and (24), assuming that and are constant values, it can be seen that when length increases, with a decreasing of the rotational stiffness 11 , 22 , and 33 , obviously, 11 and 22 are inversely proportional to . By (22) and (24), supposing that and are constant values, when length increases, 11 and 33 also increase.…”

Section: Analysis Of Stiffness Elementsmentioning

confidence: 99%

“…Gao et al [22] established a mathematical model for predicting the loaded posture of a single section continuum manipulator. Qi et al [23] analyzed the compliance characteristics of a new planar spring continuum robot. Gravagne et al [24] discussed the dynamics of a planar continuum backbone section, incorporating a large-deflection dynamic model.…”

Section: Introductionmentioning

confidence: 99%

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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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Section: Analysis Of Stiffness Elementsmentioning

confidence: 95%

Section: Analysis Of Stiffness Elementsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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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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“…Tendon-actuated dexterous manipulators (TA-DMs) can serve as end-effectors to provide great flexibility and maneuverability, which are widely used in a variety of fields [1], especially for minimally invasive surgeries in the confined anatomy [2][3][4][5][6][7][8][9][10]. They can be used as catheters for ablation [3,4], sheaths for irrigation/ adsorption or some miniature tools [5,6], endoscopic surgeries [7], or other steerable instruments [8] or robots [9,10].…”

Section: Introductionmentioning

confidence: 99%

“…They can be used as catheters for ablation [3,4], sheaths for irrigation/ adsorption or some miniature tools [5,6], endoscopic surgeries [7], or other steerable instruments [8] or robots [9,10]. The common use of the actuation is the cable or wire as the tendon, which is inserted into the conduit to interact with the flexible body of TA-DMs to generate the deflection.…”

Section: Introductionmentioning

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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Soft Hybrid Wave Spring Actuators

Skorina¹,

Önal²

2019

Advanced Intelligent Systems

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Soft continuum manipulators, inspired by squid tentacles and elephant trunks, show promise in allowing robots to safely interact with complex environments. One ongoing problem for these manipulators is torsional stiffness, as continuum manipulators are naturally compliant and cannot actively resist torsional strain. A hybrid actuator that combines molded silicone actuators with 3D printed flexible wave springs is used to overcome this problem. It is shown that the inclusion of the 3D printed wave spring increases actuator torsional stiffness by up to a factor of 10. Further investigation of these structures is performed using both experimentation and simulation. Finally, this hybrid actuator design is used to create a nine-degree-of-freedom soft continuum manipulator, which is used to perform a cantilevered pick-and-place task impossible for a traditional soft manipulator of similar size.

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A Novel Continuum Manipulator Design Using Serially Connected Double-Layer Planar Springs

Cited by 87 publications

References 41 publications

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

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

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

Soft Hybrid Wave Spring Actuators

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