Kinematic instability in concentric-tube robots: Modeling and analysis
Kinematic instability in concentric-tube robots: Modeling and analysis
复制标题
同心管机器人的运动不稳定性：建模与分析
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
Rajnikant V. Patel
中科院分区：
文献类型：
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作者：
Ran Xu;S. F. Atashzar;Rajnikant V. Patel
本文研究了同心管机器人在以下两种情况下的运动不稳定性问题：（a）机器人由两个以上的同心管组成;（B）同心管由直段和曲段组成。在本文中，我们使用的术语“运动学不稳定性”时，在笛卡尔域中的机器人的尖端位置从一个平衡点跳跃到另一个，而具有恒定的关节空间配置。这意味着，在不稳定的配置，“正向运动学”的机器人将有一组关节空间变量的多个解决方案。本文提出了一种新的框架，可以计算的机器人组成的多个管道与直截面的稳定性条件，而无需求解非线性常微分方程。由此产生的条件限制的预曲率和长度的管，作为一个设计因素，以保证在整个工作空间的机器人的运动稳定性。
In this paper the issue of kinematic instability for concentric tube robots is studied when the following two conditions are considered: (a) the robot consists of more than two concentric tubes, and (b) the tubes consist of straight sections followed by curved sections. In this paper, we use the term “kinematic instability” when the tip position of robot in the Cartesian domain jumps from one equilibrium point to another while having a constant joint space configuration. This implies that in unstable configurations, the “forward kinematics” of the robot will have multiple solutions for one set of joint space variables. In this paper a novel framework is proposed that can calculate the stability condition for the robots consisting of multiple tubes with straight sections without solving the nonlinear ordinary differential equations. The resulting conditions restrict the pre-curvatures and length of the tubes, as a design factor, to guarantee kinematic stability within the whole workspace of the robot.