Toward parallel continuum manipulators

Bryson, Caroline E.; Rucker, D. Caleb

doi:10.1109/icra.2014.6906943

Cited by 113 publications

(50 citation statements)

References 27 publications

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“…In this section, we propose a Cosserat rod model to predict the deformation of the continuum arm composed of asymmetric building blocks. The Cosserat rod model is ideal for continuum manipulators because they are long, slender and deform as a continuum [32] [8] [33] [34]. However, there are challenges in applying the Cosserat model for asymmetric building block architecture, which are elucidated in this section.…”

Section: Modeling Of the Br 2 Continuum Manipulatormentioning

confidence: 99%

Design of Soft Continuum Manipulators Using Parallel Asymmetric Combination of Fiber Reinforced Elastomers

Uppalapati¹,

Krishnan²

2018

Preprint

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Soft continuum manipulators have large workspace, dexterity and adaptability, but at the cost of complex design construction highlighted by concatenating several individually controlled serial segments. In this paper, we propose a new designarchitecture for a soft continuum manipulator composed of a parallel combination of pneumatic actuators. The BR2 manipulator, featured in this paper is asymmetric as it combines one soft bending (B) actuator and two soft rotating (R2) actuators, as opposed to state of the art symmetric architectures that adopt bending segments. Spatial deformation modes are achieved by combining curvature and torsion of the individual actuators. This paper formulates a forward analysis method based on Cosserat rod mechanics to predict the spatial deformation of the manipulator under the effect of external loads with an accuracy less than 9 % of the manipulator length. The model takes into account ‘the coupling effect’ inherent to the asymmetric combination, where pressurizing the rotating actuator attenuates the bendingcurvature and vice versa. Consequently, the paper studies the optimal design of the manipulator constituents that minimize the coupling, and thus maximize the workspace and dexterity. A detailed performance study of the BR2 manipulator on aswiveling base demonstrates a spatial workspace quantified by an axisymmetric area, and sufficient dexterity such that at least 87% of the workspace can be approached with two or more orientations. These are validated through obstacle avoidance, and a pick and place task. The manipulator is also capable ofwhole arm manipulation by spiraling along cylindrical objects of varying diameters. These performance attributes surpass any other single segment module and is a potential building block for constructing customized continuum manipulators.

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Section: Modeling Of the Br 2 Continuum Manipulatormentioning

confidence: 99%

Design of Soft Continuum Manipulators Using Parallel Asymmetric Combination of Fiber Reinforced Elastomers

Uppalapati¹,

Krishnan²

2018

Preprint

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“…Due to this need for distal dexterity, parallel continuum robots 149 have been proposed for use in transanal endocolonic surgery. These robots can provide 6-DoF dexterous manipulation in a single continuum segment, making them a potential candidate for the narrow, constrained workspace of the colon.…”

Section: Transanal Systemsmentioning

confidence: 99%

Snake-Like Robots for Minimally Invasive, Single-Port, and Intraluminal Surgeries

Orekhov

Abah

Simaan

2018

The Encyclopedia of Medical Robotics

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The surgical paradigm of Minimally Invasive Surgery (MIS) has been a key driver to the adoption of robotic surgical assistance. Progress in the last three decades has led to a gradual transition from manual laparoscopic surgery with rigid instruments to robot-assisted surgery. In the last decade, the increasing demand for new surgical paradigms to enable access into the anatomy without skin incision (intraluminal surgery) or with a single skin incision (Single Port Access surgery -SPA) has led researchers to investigate snake-like flexible surgical devices. In this chapter, we first present an overview of the background, motivation, and taxonomy of MIS and its newer derivatives. Challenges of MIS and its newer derivatives (SPA and intraluminal surgery) are outlined along with the architectures of new snake-like robots meeting these challenges. We also examine the commercial and research surgical platforms developed over the years, to address the specific functional requirements and constraints imposed by operations in confined spaces. The chapter concludes with an evaluation of open problems in surgical robotics for intraluminal and SPA, and a look at future trends in surgical robot design that could potentially address these unmet needs.

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“…Thus nowadays the use of fl ex manipulators is problematic, and therefore it is necessary to fi nd a design without the above disadvantages. In [5,6,7,8], a description of various variants of the structures of fl exible manipulators for collection of fruitswere given. On the basis of experimental data, it is determined that the use of such facilities is promising.…”

Section: Introductionmentioning

confidence: 99%

The study of the positioning of a flexible manipulator

Sidyganov¹,

Smelik²,

Semenov³

et al. 2018

J Appl Eng Science

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The purpose of this paper is a theoretical study of the positioning accuracy of the end part of the developed flexible manipulator. The research was carried out on the basis of its computer and physical models. In the process of computer modelling with the use of Matlab Robotics Toolbox software environment and on the basis of the developed physical model, the principles of determining the position of the end part of a flexible manipulator at known tilt angles of links were set up, taking into account that the geometric dimensions of the models were identical. The results of modelling are presented in the graphs of the coordinate comparison. Based on the results of experiments, we can conclude that, in order to achieve high accuracy of positioning of the end part of a flexible manipulator, it is recommended to avoid the use of cardan joints between the links, or to choose cardan mechanisms with reduced free travel.

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Toward parallel continuum manipulators

Cited by 113 publications

References 27 publications

Design of Soft Continuum Manipulators Using Parallel Asymmetric Combination of Fiber Reinforced Elastomers

Design of Soft Continuum Manipulators Using Parallel Asymmetric Combination of Fiber Reinforced Elastomers

Snake-Like Robots for Minimally Invasive, Single-Port, and Intraluminal Surgeries

The study of the positioning of a flexible manipulator

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