Mechanics Modeling of Multisegment Rod-Driven Continuum Robots

Abstract

This paper presents a novel modeling approach for the mechanics of multisegment, rod-driven continuum robots. This modeling approach utilizes a high-fidelity lumped parameter model that captures the variation in curvature along the robot while simultaneously defined by a discrete set of variables and utilizes the principle of virtual power to formulate the statics and dynamics of the continuum robot as a set of algebraic equations for the static model and as a set of coupled ordinary differential equations (ODEs) in time for the dynamic model. The actuation loading on the robot by the actuation rods is formulated based on the calculation of contact forces that result in rod equilibrium. Numerical optimization calculates the magnitudes of these forces, and an iterative solver simultaneously estimates the robot's friction and contact forces. In addition, modeling considerations including variable elastic loading among segments and mutual segment loading due to rods terminating at different disks are presented. The resulting static and dynamic models have been compared to dynamic finite element analyses and experimental results to validate their accuracy.

Design and Analysis of a Robotic Modular Leg Mechanism

“…A biped configuration can also be constructed by connecting two RMLs; however, the legged robot will require an addition DOF (i.e. robotic tail [14][15][16][17][18][19], swaying torso [23], fly wheel [24]…) to perform a stable walking gait and maneuver. A biped configuration may also be formed by interconnected two RML mechanisms.…”

“…Gait patterns for a quadruped robot are developed to provide the robot forward locomotion and steering capabilities. The aim of this research is to develop a reduced DOF multi-legged platforms that can be used to investigate performance improvements that robotic tails can bring about these robotic systems [14][15][16][17][18][19] in terms of stability and maneuverability.…”

Kinematics and performance analysis of a novel concentric tube robotic structure with embedded soft micro-actuation

“…2b or elastic rods to raise the rigidity of the robot to permit transmission of compressive forces as used by [54,63,75], • fluidic (pneumatic and hydraulic) actuators by [7,15,21,39,42,44], • Shape Memory Alloy (SMA) based actuators by [35,40,47,49], • Electro-Active Polymer (EAP) based actuators by [8,20,45,48,61], and • concentric tube robots depicted in Fig. 2c by [27,28,71,73].…”

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

“…Assume that is constant value, when length increases, with decreasing of the translational stiffness 44 and 55 , which are inversely proportional to 3 . Supposing that the length is constant value, when length increases, 44 and 55 also increase, which are directly proportional to 4 . By (27), assuming that and are constant values, it can be seen that when length increases, but 66 decreases, obviously, 66 is inversely proportional to .…”

“…The main types of continuum robots include the roddriven continuum robot [4], cable-driven continuum robot [5], pneumatic continuum robot [6], and concentric tube continuum robot [7]. Du et al [8] developed an optimization notched continuum manipulator based on performance evaluation indices.…”