General Kinetostatic Modeling and Deformation Analysis of a Two-Module Rod-Driven Continuum Robot with Friction Considered

作     者：Peiyi Wang Xinhua Yang Xiangyang Wang Sheng Guo Peiyi Wang;Xinhua Yang;Xiangyang Wang;Sheng Guo

作者机构：School of MechanicalElectronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Guangdong Provincial Key Lab of Robotics and Intelligent SystemShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518005China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2023年第36卷第3期

页      面：110-122页

核心收录：

学科分类：080503[工学-材料加工工程] 08[工学] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

基　　金：Supported by National Natural Science Foundation of China(Grant No.51875033) Fundamental Research Funds for the Central Universities of China(Grant No.2021YJS137) 

主　　题：Rod-driven continuum robot Kinetostatic model Cosserat rod theory Deformation and stiffness analysis 

摘      要：Continuum robots actuated by flexible rods have large potential applications,such as detection and operation tasks in confined environments,since the push and pull actuation of flexible rods withstand tension and compressive force,and increase the structure s *** this paper,a generalized kinetostatics model for multi-module and multi-segment continuum robots considering the effect of friction based on the Cosserat rod theory is ***,the model is applied to a two-module rod-driven continuum robot with winding ropes to analyze its deformation and load *** different in-plane configurations under the external load term as S1,S2,C1,and C2 are *** a bending plane as an example,the tip deformation along thex-axis of these shapes is simulated and compared,which shows that the load capacity of C1 and C2 is generally larger than that of S1 and ***,the deformation experiments and simulations show that the maximum error ratio without external loads relative to the total length is no more than 3%,and it is no more than 4.7%under the external *** established kinetostatics model is proven sufficient to accurately analyze the rod-driven continuum robot with the consideration of internal friction.