Expeditious design optimization of a concentric tube robot with a heat-shrink plastic tube
Expeditious design optimization of a concentric tube robot with a heat-shrink plastic tube
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使用热缩塑料管的同心管机器人的快速设计优化
DOI：
10.1109/iros.2016.7759541
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Deukhee Lee
中科院分区：
文献类型：
--
作者：
G. Noh;Siyeop Yoon;Sungmin Yoon;Keri Kim;Woosub Lee;Sungchul Kang;Deukhee Lee
由于工作空间的复杂性以及用于制造它们的超弹性材料的特性，同心管机器人的设计优化和制造非常耗时。本文提出了一种快速设计和制造同心管机器人的程序，适用于需要快速管材制备但设计约束不太复杂的应用。此过程将 3D 工作空间优化问题简化为 2D 问题。连续机器人包括一个热缩管，以减少制造时间并使其具有较小的曲率半径。实验结果说明了所提程序的可行性。
Design optimization and fabrication of concentric tube robots are time consuming because of the complexity of their workspaces and the characteristics of the superelastic materials used to make them. This paper presents a procedure for the expeditious design and fabrication of a concentric tube robot for applications that require rapid tube preparation but have less complex design constraints. This procedure reduces a 3D workspace optimization problem to a 2D problem. The continuum robot includes a heat-shrink tube to reduce fabrication time and to give it a small radius of curvature. Experimental results illustrate the feasibility of the proposed procedure.