Modeling Variable Curvature Parallel Continuum Robots Using Euler Curves
Modeling Variable Curvature Parallel Continuum Robots Using Euler Curves
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DOI：
10.1109/icra.2019.8794238
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发表时间：
2019-05
期刊：
影响因子：
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通讯作者：
Phanideep Gonthina;Apoorva D. Kapadia;I. Godage;I. Walker
中科院分区：
文献类型：
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作者：
Phanideep Gonthina;Apoorva D. Kapadia;I. Godage;I. Walker
在本文中，我们提出并研究了一种新的方法来建模变曲率连续机器人部分，基于欧拉螺线。欧拉螺线，也称为回旋曲线或Cornu螺线，是曲率随弧长线性增加的曲线。本文首次将欧拉螺线应用于连续体机器人的运动学建模。该方法进行了评估，使用大量的连续体机器人，包括两个新的平行连续体机器人的部分。每个机器人由三个平行的部分组成，每个部分都有三个细长的McKibben执行器。这些部分被广泛使用的常曲率运动学模型建模较差。比较了常曲率和欧拉螺旋模型，欧拉螺旋方法被认为是一个更好的匹配范围广泛的机器人硬件配置。
In this paper, we propose and investigate a new approach to modeling variable curvature continuum robot sections, based on Euler spirals. Euler spirals, also termed Clothoids, or Cornu spirals, are those curves in which the curvature increases linearly with their arc length. In this work, Euler spirals are applied to the kinematic modeling of continuum robots for the first time. The approach was evaluated using the sections of numerous continuum robots, including two novel parallel continuum robots. Each robot consists of three parallel sections, each with three thin, long McKibben actuators. These sections are poorly modeled by the widely used constant curvature kinematic model. The constant curvature and Euler spiral models were compared and the Euler spiral method was seen to be a significantly better match for a wide range of configurations of the robot hardware.