Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot With Three Extensible Segments
Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot With Three Extensible Segments
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DOI：
10.1109/lra.2019.2893610
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发表时间：
2019-04-01
影响因子：
5.2
通讯作者：
Burgner-Kahrs, Jessica
中科院分区：
文献类型：
--
作者：
Chikhaoui, Mohamed Taha;Lilge, Sven;Burgner-Kahrs, Jessica
由肌腱驱动的连续体机器人是一种经过广泛研究的机器人设计，相对于其体积而言，它具有高灵活性和大工作空间。它们灵活且顺应的结构可以轻松小型化，使其适合在难以到达和狭窄的空间中应用。这种特定机器人设计的适应性包括可扩展的部分，从而实现更高的可操作性，并实现所谓的机械手跟随引导运动。在这封信中，研究了具有三个可延伸段的肌腱驱动连续体机器人的运动学建模。重点是比较两种最广泛使用的自由空间和负载配置建模方法。通过广泛的实验验证，从形状偏差、段端欧几里得误差和计算时间方面对建模性能进行定性和定量评估。虽然 Cosserat 杆建模比梁力学建模稍微准确，但后者的计算时间明显缩短。
Continuum robots actuated by tendons are a widely researched robot design offering high dexterity and large workspaces relative to their volume. Their flexible and compliant structure can be easily miniaturized, making them predestined for applications in difficult-to-reach and confined spaces. Adaption of this specific robot design includes extensible segments leading to an even higher manipulability and enabling so-called follow-the-leader motions of the manipulator. In this letter, kinematic modeling for a tendon actuated continuum robot with three extensible segments is investigated. The focus is drawn on the comparison of two of the most widely used modeling approaches both for free-space and loaded configurations. Through extensive experimental validation, the modeling performances are assessed qualitatively and quantitatively in terms of the shape deviation, Euclidean error at segment ends, and computation time. While Cosserat rod modeling is slightly more accurate than beam mechanics modeling, the latter presents significantly lower computation time.