Reducing Actuator Requirements in Continuum Robots Through Optimized Cable Routing
Reducing Actuator Requirements in Continuum Robots Through Optimized Cable Routing
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DOI：
10.1089/soro.2017.0030
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发表时间：
2017-10-26
期刊：
影响因子：
7.9
通讯作者：
Kramer-Bottiglio, Rebecca
中科院分区：
文献类型：
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作者：
Case, Jennifer C.;White, Edward L.;Kramer-Bottiglio, Rebecca
与刚性连接的机械臂相比，连续体机械臂具有许多优点，例如自由度和工作空间的增加。受生物系统的启发，如象鼻和章鱼的触手，许多连续操纵器由多个部分组成，允许大规模变形分布在整个身体。目前，大多数连续体机械手分别控制每个节段。例如，平面电缆驱动系统通常由每个部分的一对电缆控制，这意味着每个部分有两个致动器。在本文中，我们展示了高度耦合的交叉电缆配置如何在平面连续机械臂中减少致动器数量和致动器扭矩要求，同时保持工作空间的可达性和可操作性。我们通过允许电缆穿过机械手来创建新的电缆配置来实现高度耦合驱动。进一步推导了欠驱动机械臂工作空间预测的解析模型，并用物理系统实验验证了模型的准确性。我们使用该模型使用工作空间性能度量来比较交叉电缆配置和传统电缆配置。我们在这里的工作重点是一个简化的平面机器人，无论是在模拟还是在硬件上，目标是在未来的工作中将其扩展到全3D连续体机器人的螺旋电缆配置。
Continuum manipulators offer many advantages compared to their rigid-linked counterparts, such as increased degrees of freedom and workspace volume. Inspired by biological systems, such as elephant trunks and octopus tentacles, many continuum manipulators are made of multiple segments that allow large-scale deformations to be distributed throughout the body. Most continuum manipulators currently control each segment individually. For example, a planar cable-driven system is typically controlled by a pair of cables for each segment, which implies two actuators per segment. In this article, we demonstrate how highly coupled crossing cable configurations can reduce both actuator count and actuator torque requirements in a planar continuum manipulator, while maintaining workspace reachability and manipulability. We achieve highly coupled actuation by allowing cables to cross through the manipulator to create new cable configurations. We further derive an analytical model to predict the underactuated manipulator workspace and experimentally verify the model accuracy with a physical system. We use this model to compare crossing cable configurations to the traditional cable configuration using workspace performance metrics. Our work here focuses on a simplified planar robot, both in simulation and in hardware, with the goal of extending this to spiraling-cable configurations on full 3D continuum robots in future work.