A wire-driven continuum manipulator model without assuming shape curvature constancy

Hsiao, Kai-Wen; Mochiyama, Hiromi

doi:10.1109/iros.2017.8202190

Cited by 19 publications

(6 citation statements)

References 20 publications

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“…Therefore, it requires numerical integration ( Jones et al, 2009 ; Dehghani and Moosavian, 2011 ; Dehghani and Moosavian, 2013a ). For only the tip orientation matrix, a closed analytical solution has been derived by Hsiao and Mochiyama (2017) . Computing the rotation matrix by integrating Eq.…”

Section: Continuum Backbone Parameterizationmentioning

confidence: 99%

“…While pure moment models result in good accuracy for in-plane bending, they do not predict nonplanar deformations resulting from external tip forces well ( Rucker and Webster, 2011a ). In order to model out-of-plane bending, an additional uniformly distributed tendon force,

described above can be considered to be acting on the backbone ( Rucker and Webster, 2011a ; Renda and Laschi, 2012 ; Hsiao and Mochiyama, 2017 ). Camarillo et al (2008b) show that for a circular arc, considering tendon termination force

and uniformly distributed force

is equivalent to only considering a pure moment acting on the backbone, described by Eq.…”

Section: Static Modellingmentioning

confidence: 99%

See 1 more Smart Citation

How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

et al. 2021

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Tendon actuation is one of the most prominent actuation principles for continuum robots. To date, a wide variety of modelling approaches has been derived to describe the deformations of tendon-driven continuum robots. Motivated by the need for a comprehensive overview of existing methodologies, this work summarizes and outlines state-of-the-art modelling approaches. In particular, the most relevant models are classified based on backbone representations and kinematic as well as static assumptions. Numerical case studies are conducted to compare the performance of representative modelling approaches from the current state-of-the-art, considering varying robot parameters and scenarios. The approaches show different performances in terms of accuracy and computation time. Guidelines for the selection of the most suitable approach for given designs of tendon-driven continuum robots and applications are deduced from these results.

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Section: Continuum Backbone Parameterizationmentioning

confidence: 99%

and uniformly distributed force

is equivalent to only considering a pure moment acting on the backbone, described by Eq.…”

Section: Static Modellingmentioning

confidence: 99%

How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

et al. 2021

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“…But the constant curvature model is not accurate because of the friction or external force. Although it is difficult to detect the shape of the continuum manipulator according to the change of the LMPA resistance, it is possible to determine the direction of the end of the continuum manipulator (Hsiao and Mochiyama, 2017). As shown in Figure 12, s is the arc length along the axis of the continuum manipulator representing the position of the point on the manipulator.…”

Section: Change Rule Of Length Of Silicone Tubementioning

confidence: 99%

Analysis of a novel manipulator with low melting point alloy initiated stiffness variation and shape detection for minimally invasive surgery

Wei

Chen

et al. 2020

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Purpose There is an increasing popularity for the continuum robot in minimally invasive surgery owing to its compliance and dexterity. However, the dexterity takes the challenges in loading and precise control because of the absence of the shape tracking for the continuum robot. The purpose of this paper is to propose a new type of continuum manipulator with variable stiffness that can track the bending shape timely. Design/methodology/approach The low-melting-point alloy (LMPA) is used to implement the stiffness variation and shape detection for the continuum manipulator. A conceptual design for a single module is presented, and the principle of stiffness control based on the established static model is formulated. Afterward, a shape detection method is introduced in which the shape of the continuum manipulator can be detected by measuring the resistance of every LMPA. Finally, the effect of the proposed variable stiffness method is verified by simulation; the variable stiffness and shape detection methods are evaluated by experiments. Findings The results from the simulations and experiments indicate that the designed continuum manipulator has the ability of stiffness variation over 42.3% and the shape detection method has high precision. Originality/value Compared with conventional structures, the novel manipulator has a simpler structure and integrates the stiffness variation and shape detection capabilities with the LMPA. The proposed method is promising, and it can be conveniently extended to other continuum manipulators.

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“…While there are different approaches for the actuation of CRs, tendon-driven actuation has become popular owing to its simplicity and ease of implementation [13]. As a result, various aspects related to tendon-driven continuum robots have been the subject of investigation, such as their design and construction [14], [15], mechanical modeling [16]- [19], dynamics [20], [21], workspace analysis [22], [23], and control [24]. Despite these advances, dynamic modeling and analysis of tendon-driven continuum robots present significant challenges, such as those relating to their accuracy [25], efficiency, and numerical stability.…”

Section: Introductionmentioning

confidence: 99%

Cosserat Rod-Based Dynamic Modeling of Tendon-Driven Continuum Robots: A Tutorial

2021

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This article provides a tutorial on the dynamic modeling of continuum robots. Continuum robots (CRs) have gained popularity in recent years due to their flexible backbone structure. Modeling and control of CRs motivate accurate and efficient dynamic models. Such models will enable simulation of dynamic behavior, improved structural design, and the development of dynamics-based control systems for CRs. As a unified underlying approach, the Cosserat rod-based modeling of tendon-driven CRs is used as the basis of the modeling techniques discussed in this paper. In addition to conventional continuum robot assemblies, new and emerging assemblies such as tendon-bent concentric tube and co-operative robots are also considered. The governing equations of motion for conventional CRs are first summarized and then extended for other tendon-driven CRs. This tutorial also contributes to developing a MATLAB code package for simulation of the dynamic response of these robots. The presented method and codes provide a useful and compact resource for readers and can be used for further development of tendon-driven continuum robots.

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A wire-driven continuum manipulator model without assuming shape curvature constancy

Cited by 19 publications

References 20 publications

How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

Analysis of a novel manipulator with low melting point alloy initiated stiffness variation and shape detection for minimally invasive surgery

Cosserat Rod-Based Dynamic Modeling of Tendon-Driven Continuum Robots: A Tutorial

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