Design and Control of Concentric-Tube Robots.
Design and Control of Concentric-Tube Robots.
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DOI：
10.1109/tro.2009.2035740
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发表时间：
2010-04-01
期刊：
影响因子：
--
通讯作者：
Butler E
中科院分区：
文献类型：
--
作者：
Dupont PE;Lock J;Itkowitz B;Butler E
一种新的方法对建设的机器人是基于一个同心的组合的弹性管。通过管相对于彼此的旋转和延伸，它们的曲率弹性地相互作用以定位和定向机器人的尖端，以及控制机器人沿其长度的沿着形状。在这种方法中，柔性管包括机器人的连杆和关节。由于致动器在其近端处附接到管，因此机器人本身形成非常适合微创医疗程序的细长曲线。本文展示了这项技术的潜力。提出了设计原则，并推导出一个通用的运动学模型，包括管弯曲和扭转。还描述了使用该模型的实时位置控制的实验演示。
A novel approach toward construction of robots is based on a concentric combination of precurved elastic tubes. By rotation and extension of the tubes with respect to each other, their curvatures interact elastically to position and orient the robot’s tip, as well as to control the robot’s shape along its length. In this approach, the flexible tubes comprise both the links and the joints of the robot. Since the actuators attach to the tubes at their proximal ends, the robot itself forms a slender curve that is well suited for minimally invasive medical procedures. This paper demonstrates the potential of this technology. Design principles are presented and a general kinematic model incorporating tube bending and torsion is derived. Experimental demonstration of real-time position control using this model is also described.