Continuous Backbone “Continuum” Robot Manipulators

Walker, Ian D.

doi:10.5402/2013/726506

Cited by 337 publications

(192 citation statements)

References 104 publications

(228 reference statements)

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“…In recent years there has been a substantial increase in designing, modelling, and constructing (biologically-based) continuum robots that provide new robotic behaviours, and offer an infinite number of robot applications [4,5]. The pneumatic muscle actuator (PMA), which is the base of such types of robots, has numerous positives over ordinary pneumatic cylinders, such as the high force in comparison to its weight, low workspace requirement, high flexibility to construct [6,7], adaptable installation possibilities, minimum consumption of compressed air, accessibility of different measurements, low cost, and being safe for human use [6,8]. For these exceptional features, the PMA has been considered as an appropriate actuator to use behind electrical and hydraulic actuators.…”

Section: Introductionmentioning

confidence: 99%

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

2017

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Abstract:To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA) must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly-pneumatic muscle actuators. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled.

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Section: Introductionmentioning

confidence: 99%

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

2017

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“…Then the centre actuator is connected to others individually. Equal air pressure in all PMAs makes the arm extend in a straight direction, while, the different pressure inside the four actuators make the free end move in all direction in the space at almost constant curvature (Walker, 2013). The position angle is observed as a function of the supplied pressure and the attached load.…”

Section: Extensor Continuum Armmentioning

confidence: 99%

Design, implementation and modelling of the single and multiple extensor pneumatic muscle actuators

Al-Ibadi

Nefti‐Meziani

Davis

2018

Systems Science & Control Engineering

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The soft actuator represents a valuable addition to the robotics research area in last two decades. These actuators provide significant features such as lightweight, softness, high force to weight ratio and the ability to form in different shapes. This article presents a new length model to the single extensor pneumatic muscle actuator (PMA) which is depended on the constructed parameters and the air pressure. On the other hand, the tensile force formula of the contractor actuator has been modified to describe the extension force of the extensor PMA. The parallel structure of four extensor actuators is designed and implemented as continuum arm. The bending behaviour of the proposed arm is illustrated and modelled mathematically. The length model of the single extensor actuator has validated by the comparison between the model and the experiment data and then a neural network (NN) control system is applied to control the elongation of the extensor PMA. The kinematics for the proposed continuum arm are presented to describe the bending of the arm and its direction. ARTICLE HISTORY

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“…In the literature, different types of continuum robot designs have been proposed that can be categorized as tendonbased, continuously bending actuator-based, concentric tubes-based, steerable needle-based or variable stiffnessbased continuum robots [1,4,5]. Irrespective of their underlying physical architecture, the common property of the approximately constant curvature-bending of the backbone is exhibited by all types of continuum robots [4,5].…”

Section: Introductionmentioning

confidence: 99%

“…Continuum robots do not have rigid links/joints but present continuous flexibility in their structure. Because of their continuously bending architecture, continuum robots can manoeuvre through an unstructured congested workspace and can overcome the limitations posed by traditional robots [2,3,4].…”

Section: Introductionmentioning

confidence: 99%

Points-Based Safe Path Planning of Continuum Robots

Shahzad

Iqbal

Bloodsworth

2015

International Journal of Advanced Robotic Systems

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Continuum robots exhibit great potential in a number of challenging applications where traditional rigid link robots pose certain limitations, e.g.,working in unstructured environments. In order to enable the usage of continuum robots in safety-critical applications, such as surgery and nuclear decontamination, it is extremely important to ensure a safe path for the robot's movement. Existing algorithms for continuum robot path planning have certain limitations that need to be addressed. These include the fact that none of the algorithms provide safety assurance parameters and control for path planning. They are computationally expensive, applicable to a specific type of continuum robots, and mostly they do not incorporate design and kinematics constraints. In this paper, we propose a points-based path planning (PoPP) algorithm for continuum robots that computes the path by imposing safety constraints and improves upon the limitations of existing approaches. In the algorithm, we exploit the constant curvature-bending property of continuum robots in their path planning process. The algorithm is computationally efficient and provides a good tradeoff between accuracy and efficiency that can be implemented to enable the safety-critical application of continuum robots. This algorithm also provides information regarding path volume and flexibility in movement. Simulation results confirm that the algorithm possesses promising potential for all types of continuum robots (following the constant curvature-bending property). We believe that this effectively balances the desired safety and efficiency requirements.

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Continuous Backbone “Continuum” Robot Manipulators

Cited by 337 publications

References 104 publications

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

Design, implementation and modelling of the single and multiple extensor pneumatic muscle actuators

Points-Based Safe Path Planning of Continuum Robots

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