A wire-driven continuum manipulator model without assuming shape curvature constancy
A wire-driven continuum manipulator model without assuming shape curvature constancy
复制标题
不假设形状曲率恒定的线驱动连续机械臂模型
DOI：
10.1109/iros.2017.8202190
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
H. Mochiyama
中科院分区：
文献类型：
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作者：
Kaiwen Hsiao;H. Mochiyama
在本文中，我们提出了一个模型的线驱动连续机械手没有假设恒定的曲率的机械手的形状作为一个自然的延伸著名的和有用的常曲率模型。我们表明，连续体机械臂的尖端方向可以完全由拉线长度决定，而不管它的整体形状，这是一个有用的属性相同的常曲率模型。此外，我们可以推导出尖端位置，这取决于整个形状，通过假设分布的力量沿着线主要是由于之间的摩擦线和周围的材料。实验验证结果表明，基于该模型，可以根据拉线长度估计尖端方向，具有良好的准确性和精确度。我们还提供了实验结果的讨论与现实的假设上的力分布沿着线估计的尖端位置。
In this paper, we proposed a model for a wire-driven continuum manipulator without assuming constancy in curvatures of the manipulator's shape as a natural extension of the famous and useful constant curvature model. We show that the tip orientation of the continuum manipulator can be decided completely by pulling-wire lengths, regardless of its whole shape, which is a useful property same as the constant curvature model. Moreover, we can derive the tip position, which depends on the whole shape, by assuming distributed forces along wires mainly due to the friction between the wires and their surrounding materials. Experimental validation results show that, based on the model, we can estimate the tip orientation from pulling-wire lengths with good accuracy and precision. We also provide experimental results for discussion about estimating the tip position with the realistic assumption on the force distribution along wires.