Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test.
Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test.
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DOI：
10.1109/tro.2015.2500422
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发表时间：
2016-02
期刊：
影响因子：
--
通讯作者：
Webster RJ 3rd
中科院分区：
文献类型：
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作者：
Gilbert HB;Hendrick RJ;Webster RJ 3rd
同心管机器人是针大小的机械手，已被研究用于微创手术。在这些设备的开发早期就注意到，弹性能量存储可以导致中等到高管曲率设计的快速卡扣运动。同心管机器人社区最近在设计无卡扣机器人、规划稳定路径以及表征导致特定类别同心管机器人卡扣的条件方面取得了实质性进展。然而，尚未提出衡量给定机器人配置稳定性的通用衡量标准。在本文中，我们使用分叉和弹性稳定性理论来提供这样的测量，并进行测试来确定给定的设计是否是无捕捉的（即捕捉是否可以发生在卸载的机器人工作空间中的任何地方）。这些结果对于设计、规划运动和控制高曲率同心管机器人非常有用。
Concentric tube robots are needle-sized manipulators which have been investigated for use in minimally invasive surgeries. It was noted early in the development of these devices that elastic energy storage can lead to rapid snapping motion for designs with moderate to high tube curvatures. Substantial progress has recently been made in the concentric tube robot community in designing snap-free robots, planning stable paths, and characterizing conditions that result in snapping for specific classes of concentric tube robots. However, a general measure for how stable a given robot configuration is has yet to be proposed. In this paper, we use bifurcation and elastic stability theory to provide such a measure, as well as to produce a test for determining whether a given design is snap-free (i.e. whether snapping can occur anywhere in the unloaded robot’s workspace). These results are useful in designing, planning motions for, and controlling concentric tube robots with high curvatures.