Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot
Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot
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DOI：
10.1109/lra.2020.3010213
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发表时间：
2020-10-01
影响因子：
5.2
通讯作者：
Ortmaier, Tobias
中科院分区：
文献类型：
--
作者：
Nuelle, Kathrin;Sterneck, Tim;Ortmaier, Tobias
在这项工作中，一种新型的平面并联连续体机器人（PCR）的介绍，由三个运动链耦合在一个三角形的末端执行器平台，包括肌腱驱动的连续体段。所得到的结构的运动学推导出适应传统的平面并联机器人的描述，包括利用连续段的常曲率弯曲。考虑到摩擦和非线性材料的影响，数据驱动的模型被用来与肌腱位移和曲率的利用连续段。对所导出的运动学模型进行校准，以具体表示所构造的原型。这包括校准每个运动链和末端执行器平台的几何参数。在评估过程中，定位重复性为1.0%，相对于一个连续段长度的机器人，定位精度为1.4%，实现。这些结果与PCR常用的动态静态建模方法相当。所提出的模型实现了高的路径精度关于机器人的末端执行器姿态在开环控制方案。
In this work, a novel planar parallel continuum robot (PCR) is introduced, consisting of three kinematic chains that are coupled at a triangular end-effector platform and include tendon-actuated continuum segments. The kinematics of the resulting structure are derived by adapting the descriptions for conventional planar parallel manipulators to include constant curvature bending of the utilized continuous segments. To account for friction and non-linear material effects, a data-driven model is used to relate tendon displacements and curvature of the utilized continuum segments. A calibration of the derived kinematic model is conducted to specifically represent the constructed prototype. This includes the calibration of geometric parameters for each kinematic chain and for the end-effector platform. During evaluation, positioning repeatability of 1.0% in relation to one continuum segment length of the robot, and positioning accuracy of 1.4%, are achieved. These results are comparable to commonly used kineto-static modeling approaches for PCR. The presented model achieves high path accuracies regarding the robot's end-effector pose in an open-loop control scenario.