Chained Spatial Beam Constraint Model: A General Kinetostatic Model for Tendon-Driven Continuum Robots

Chen，Yuhan; Yao，Shilong; Meng，Max Q.H.; Liu，Li

2024

10.1109/TMECH.2023.3348510

IEEE/ASME Transactions on Mechatronics   影响因子和分区

1083-4435

1941-014X

The profile estimation for continuum robots is a crucial problem concerning automatically controlling robots. The conventional method is based on the Cosserat rod theory, which is limited by the dependence of the convergence on the initial guess and computational complexity. To tackle these issues, this article proposes a general kinetostatic model to estimate the profile of the tendon-driven continuum robot (TDCR). We first abstract the backbone of the TDCR as an Euler–Bernoulli beam and then derive the spatial beam constraint model of a circular cross-section beam without considering torsion and shear. Next, taking a single-section TDCR as an example, we provide comprehensive modeling, considering the driving tendon tensions, friction, gravity, and external forces. Subsequently, an algorithm based on the chained spatial beam constraint model is proposed to estimate the robot's profile. The method can be generalized to the TDCR with different configurations. Simulations demonstrate the accuracy, computational efficiency, and computational success rate of our method, as well as its advantages over the state-of-the-art. Real-world experiments have also been performed to validate the effectiveness of our method with three different configurations of the TDCR.

3-D motion continuum robots Friction Gravity kinetostatic modeling Load modeling multisection robots Robot kinematics Robots Service robots Tendons

SCI ; EI

英语

第一

ENGINEERING

2-s2.0-85182950774

Scopus

Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China

Chen，Yuhan,Yao，Shilong,Meng，Max Q.H.,et al. Chained Spatial Beam Constraint Model: A General Kinetostatic Model for Tendon-Driven Continuum Robots[J]. IEEE/ASME Transactions on Mechatronics,2024,PP(99):1-12.

Chen，Yuhan,Yao，Shilong,Meng，Max Q.H.,&Liu，Li.(2024).Chained Spatial Beam Constraint Model: A General Kinetostatic Model for Tendon-Driven Continuum Robots.IEEE/ASME Transactions on Mechatronics,PP(99),1-12.

Chen，Yuhan,et al."Chained Spatial Beam Constraint Model: A General Kinetostatic Model for Tendon-Driven Continuum Robots".IEEE/ASME Transactions on Mechatronics PP.99(2024):1-12.