Mechanics of Continuum Robots with External Loading and General Tendon Routing
Mechanics of Continuum Robots with External Loading and General Tendon Routing
复制标题
具有外部加载和一般肌腱布线的连续体机器人的力学
DOI：
10.1007/978-3-642-28572-1_44
复制
发表时间：
2010
影响因子：
5.2
通讯作者：
R. Webster
中科院分区：
文献类型：
--
作者：
D. C. Rucker;R. Webster
沿着弹性骨架在直线路径上布线肌腱是连续体机器人广泛使用的驱动方法。肌腱布线路径是空间中的一般曲线，使得能够设计更大的机器人家族，具有直线肌腱布线无法实现的配置空间和布局。利用一般肌腱路由扩展连续体机器人的能力，需要一个模型的机器人的运动学和静力学，这是本文的主要重点。我们的方法是耦合的经典Cosserat理论的字符串和杆使用的分布负载的肌腱施加沿着机器人的几何精确推导。实验表明，该模型准确地预测尖端位置的总弧长的1.7%，在一个原型机器人，包括直和螺旋肌腱路由，并受到点和分布载荷。
Routing tendons in straight paths along an elastic backbone is a widely used method of actuation for continuum robots. Tendon routing paths which are general curves in space enable a much larger family of robots to be designed, with configuration spaces and workspaces that are unattainable with straight tendon routing. Harnessing general tendon routing to extend the capabilities of continuum robots requires a model for the kinematics and statics of the robot, which is the primary focus of this paper. Our approach is to couple the classical Cosserat theories of strings and rods using a geometrically exact derivation of the distributed loads that the tendons impose along the robot. Experiments demonstrate that the model accurately predicts tip position to 1.7% of the total arc length, on a prototype robot that includes both straight and helical tendon routing and is subject to both point and distributed loads.