Workspace Analysis of Tendon-Driven Continuum Robots Based on Mechanical Interference Identification
Workspace Analysis of Tendon-Driven Continuum Robots Based on Mechanical Interference Identification
复制标题
DOI：
10.1115/1.4036395
复制
发表时间：
2017-06
影响因子：
3.3
通讯作者：
Kun Cao;Rongjie Kang;D. Branson;Shineng Geng;Zhibin Song;J. Dai
中科院分区：
文献类型：
--
作者：
Kun Cao;Rongjie Kang;D. Branson;Shineng Geng;Zhibin Song;J. Dai
连续体机器人由于其高度的灵活性和安全性而引起了机器人界越来越多的关注和努力。本文提出了一种具有弹性骨架结构和腱驱动驱动系统的多模块连续体机器人的设计。建立了机器人的运动学模型，通过识别骨架结构和肌腱之间的干涉，得到了模块的最大弯曲角。然后使用叠加方法来确定机器人模块的配置空间。最后，提出了一种近似方法来估计肌腱驱动连续体机器人的工作空间，降低了计算复杂度相比，以前使用的扫描方法。实验结果验证了所提出的方法的有效性。
Continuum robots have excited increasing attention and efforts from the robotic community due to their high dexterity and safety. This paper proposes a design for a type of multimodule continuum robot equipped with an elastic backbone structure and tendon-driven actuation system. The kinematic model of the robot is formulated where the maximum bending angle of a module is obtained by identifying the interference between the backbone structure and the tendons. A superposition method is then used to determine the configuration space of the robotic module. Finally, an approximation method is presented to estimate the workspace of the tendon-driven continuum robot that reduces the computational complexity in comparison with the previously used scanning method. Experiments are provided to validate the proposed methods.