Design and kinematics of a novel continuum robot connected by unique offset cross revolute joints

运动学 反向动力学 旋转副 机器人 常曲率 执行机构 计算机科学 正向运动学 工作区 曲率 正确性 偏移量(计算机科学) 控制理论(社会学) 算法 数学 人工智能 几何学 物理 经典力学 程序设计语言 控制(管理)
作者
Xuhao Wang,Chengfa Wang,Mengli Wu,Mingyu Li,Yong Xu,Guanhao Li,Zhiyong Guo,Yiran Cao
出处
期刊:Journal of Mechanisms and Robotics [ASME International]
卷期号:: 1-22
标识
DOI:10.1115/1.4065084
摘要

Abstract Continuum robots have continuous structures and inherent compliance, which can be used for accessing unstructured and confined space in many fields, such as minimally invasive surgery and aero-engine in-situ inspection. A novel continuum robot connected by unique offset cross shaft joints is proposed in this paper, which has excellent bending capacity and appropriate torsional stiffness. Meanwhile, a cable-driven system is designed to actuate it. Furthermore, the kinematic modeling and analysis are carried out. The mappings among robot's actuator space, joint space and task space are established step by step. Particularly, an improved inverse kinematics algorithm is proposed by combining the constant curvature method with the numerical iterative method. This combined inverse kinematics algorithm can effectively reduce the error of approximate solution derived by the traditional constant curvature method. Numerical simulations are conducted to verify the proposed algorithm and analyze workspace of the continuum robot. Finally, experimental prototype of the robot is built to verify its excellent bending capacity and the correctness of the proposed kinematic model.
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