Design Optimization of Y-Shaped Transmission System for Dual-Arm Concentric-Tube Robots

Zhang，Chao1; Cen，Guangdu1; Yang，Xing1; Wang，Jiaole1; Song，Shuang1; Meng，Max Q.H.2,3,4

10.1109/ROBIO54168.2021.9739385

2021

978-1-6654-0536-2

2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

571-576

27-31 Dec. 2021

Sanya, China

Y-shaped transmission system of dual-arm concentric-tube robots (CTR) possesses advantage of convenient arrangement of its actuation units. However, the design optimization of such Y-shaped transmission system has not been systematically studied. This paper presents an optimal design framework of Y-shaped transmission system for dual-arm CTR. Each robotic arm consists of several telescoped tubes, and each tube is made by a pre-curved super-elastic NiTi tube bonded to a stainless steel (SS) tube that transmits rotations and translations to the distal NiTi tube. Geometric constraints of the transmission system, including the tube diameters, the Y-shaped configuration, and the collision of actuation units, are first deduced. Secondly, deformation constraints considering the bending and torsional twisting of SS tubes are derived. Lastly, the design problem has been formulated as a constrained nonlinear optimization problem whose objective function is to minimize the relative twist angle or length of SS tubes. According to the proposed framework, a dual-arm CTR prototype with the optimal Y-shaped transmission system has been built. Thorough analyses on the optimal designs by different objective functions have been presented. A performance test experiment has also been conducted to validate the modeling and optimization methods.

Deformable models Three-dimensional displays Conferences Prototypes Linear programming Manipulators Electron tubes

其他

英语

EI

Basic and Applied Basic Research Foundation of Guangdong Province[2021A1515011964];

20221611977549

Bending (forming) ; Binary alloys ; Constrained optimization ; Genetic algorithms ; Machine design ; Optimal systems ; Robots ; Titanium alloys ; Transmissions ; Tubes (components)

Metal Forming:535.2 ; Titanium and Alloys:542.3 ; Mechanical Design:601 ; Mechanical Transmissions:602.2 ; Pipe, Piping and Pipelines:619.1 ; Robotics:731.5 ; Systems Science:961

2-s2.0-85128198400

Scopus

1.Harbin Institute of Technology (Shenzhen),School of Mechanical Engineering and Automation,Shenzhen,518055,China
2.Department of Electronic and Electrical Engineering,Southern University of Science and Technology,Shenzhen,China
3.Department of Electronic Engineering,Chinese University of Hong Kong,Hong Kong,Hong Kong
4.Shenzhen Research Institute,Chinese University of Hong Kong,Shenzhen,China

Zhang，Chao,Cen，Guangdu,Yang，Xing,et al. Design Optimization of Y-Shaped Transmission System for Dual-Arm Concentric-Tube Robots[C],2021:571-576.