Design and motion control of an under-actuated snake arm maintainer

Qin, Guodong; Ji, Aihong; Cheng, Yong; Zhao, Wenlong; Pan, Hongtao; Shi, Shanshuang; Song, Yuntao

doi:10.1017/s026357472100134x

Cited by 8 publications

(4 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The forward kinematics problem of the VPBC robot is to analyze the motion law of each joint motion variable and the geometric dimensions of each link and to solve the position and orientation of the needle tip relative to the reference coordinate system [25]. Based on the robot coordinate system, the Modified Denavit-Hartenberg (MDH) parameters are established, as shown in Table II.…”

Section: Robot Kinematics Modelingmentioning

confidence: 99%

A trocar puncture robot for assisting venipuncture blood collection

Yang,

Wen,

et al. 2024

Robotica

Self Cite

View full text Add to dashboard Cite

The venous blood test is a prevalent auxiliary medical diagnostic method. Venous blood collection equipment can improve blood collection’s success rate and stability, reduce the workload of medical staff, and improve the efficiency of diagnosis and treatment. This study proposed a rigid-flexible composite puncture (RFCP) strategy, based on which a small 7-degree-of-freedom (DOF) auxiliary venipuncture blood collection (VPBC) robot using a trocar needle was designed. The robot consists of a position and orientation adjustment mechanism and a RFCP end-effector, which can perform RFCP to avoid piercing the blood vessel’s lower wall during puncture. The inverse kinematics solution and validation of the robot were analyzed based on the differential evolution algorithm, after which the quintic polynomial interpolation algorithm was applied to achieve the robot trajectory planning control. Finally, the VPBC robot prototype was developed for experiments. The trajectory planning experiment verified the correctness of the inverse kinematics solution and trajectory planning, and the composite puncture blood collection experiment verified the feasibility of the RFCP strategy.

show abstract

Section: Robot Kinematics Modelingmentioning

confidence: 99%

A trocar puncture robot for assisting venipuncture blood collection

Yang,

Wen,

et al. 2024

Robotica

Self Cite

View full text Add to dashboard Cite

show abstract

“…In the last years, there has been a significant growth in research on under-actuated systems, resulting in the development of various applications for different purposes. There are jointed arm under-actuated robots [1][2][3], cable-driven under-actuated robots [4,5], and under-actuated walking robots [6,7].…”

Section: Introduction 1motivations and State Of The Artmentioning

confidence: 99%

Oscillation-free point-to-point motions of planar differentially flat under-actuated robots: a Laplace transform method

Tonan,

Doria,

Bottin

et al. 2024

Robotica

View full text Add to dashboard Cite

Differentially flat under-actuated robots are characterized by more degrees of freedom (DOF) than actuators: this makes possible the design of lightweight cheap robots with high dexterity. The main issue of such robots is the control of the passive joint, which requires accurate dynamic modeling of the robot. Friction is usually discarded to simplify the models, especially in the case of low-speed trajectories. However, this simplification leads to oscillations of the end-effector about the final position, which are incompatible with fast and accurate motions. This paper focuses on planar $n$ -DOF serial robotic arms with $n-1$ actuated rotational joints plus one final passive rotational joint with stiffness and friction properties. These robots, if properly balanced, are differentially flat. When the non-actuated joint can be considered frictionless, differentially flat robots can be controlled in open loop, calculating the motor torques demanded by point-to-point motions. This paper extends the open-loop control to robots with a passive joint with viscous friction adopting a Laplace transform method. This method can be adopted by exploiting the particular structure of the equations of motion of differentially flat under-actuated robots in which the last equations are linear. Analytical expressions of the motor torques are obtained. The work is enriched by an experimental validation of a $2$ -DOF under-actuated robot and by numerical simulations of the $2$ - and $4$ -DOF robots showing the suppression of unwanted oscillations.

show abstract

“…Underactuated mechanical systems are less common and have more DOFs than actuators [1,2]. In recent years, the interest in underactuated systems has increased in the field of robotics [3][4][5] and legged locomotion [6,7].…”

Section: Introductionmentioning

confidence: 99%

Motion Planning of Differentially Flat Planar Underactuated Robots

Tonan,

Bottin,

Doria

et al. 2024

Robotics

View full text Add to dashboard Cite

Differential flat underactuated robots have fewer actuators than degrees of freedom (DOFs). This characteristic makes it possible to design light and cost-effective robots with great dexterity. The primary challenge associated with these robots lies in effectively controlling the passive joint, in particular, when collisions with obstacles in the workspace have to be avoided. Most of the previous research focused on point-to-point motions without any control on the actual robot trajectory. In this work, a new method is presented to plan trajectories that include one or more via points. In this way, the underactuated robot can avoid the obstacles in the workspace, similarly to traditional fully actuated robots. First, a trajectory planning strategy is analytically described; then, numerical results are presented. The numerical results show the effects of the via points and of the order of the polynomials adopted to define the motion laws. In addition, experimental tests performed on a two-DOF underactuated robot are presented, and their results validate the proposed method.

show abstract

Design and motion control of an under-actuated snake arm maintainer

Cited by 8 publications

References 26 publications

A trocar puncture robot for assisting venipuncture blood collection

A trocar puncture robot for assisting venipuncture blood collection

Oscillation-free point-to-point motions of planar differentially flat under-actuated robots: a Laplace transform method

Motion Planning of Differentially Flat Planar Underactuated Robots

Contact Info

Product

Resources

About