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Geometrically Exact Finite Element Formulation for Tendon-Driven continuum robots

Acta Mechanica Solida Sinica 2022年第4期35卷 552-570页

作者： Xin Li Wenkai Yu Mehdi Baghaee Changyong Cao Dunyu Chen Ju Liu Hongyan Yuan Department of Mechanics and Aerospace Engineering Southern University of Science and TechnologyShenzhen518055China Laboratory for Soft Machines&Electronics Department of Mechanical and Aerospace EngineeringCase Western Reserve UniversityClevelandOH44106USA

Tendon-driven continuum robots achieve continuous deformations through the contraction of tendons embedded inside the robotic *** some continuum robots,the constant curvature assumption-based kinematic modeling can be accurate and *** for other cases,such as soft robots or robot-environment interactions,the constant curvature assumption can be *** model the complex deformation of continuum robots,the geometrically exact beam theory(may also be called the Cosserat rod theory)has been used to develop computational mechanics *** from previous computational models that used finite difference schemes for the spatial discretization,here we develop a three-dimensional geometrically exact beam theory-based finite element model for tendon-driven continuum *** numerical examples are presented to show the accuracy,efficiency,and applicability of our new computational model for tendon-driven continuum robots.

关键词： continuum robots Cosserat rod model Geometrically exact beam Finite element method

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Variable Curvature Modeling Method of Soft continuum robots with Constraints

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Chinese Journal of Mechanical Engineering 2023年第6期36卷 51-61页

作者： Yuwang Liu Wenping Shi Peng Chen Liang Cheng Qing Ding Zhaoyan Deng State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110016China School of Mechanical Engineering Northeastern UniversityShenyang 110016China University of Chinese Academy of Sciences Beijing 100049China School of Automation and Electrical Engineering Shenyang Ligong UniversityShenyang 110016China

The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot *** compliance reduces the risk of damage to the manipulated object and its ***,continuum robots possess theoretically infinite degrees of freedom,and this high flexibility usually leads to complex deformations when subjected to external forces and positional *** these complex deformations is the main challenge in modeling continuum *** this study,we investigated a novel variable curvature modeling method for continuum robots,considering external forces and positional *** robot configuration curve is described using the developed mechanical model,and then the robot is fitted to the curve.A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the *** feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a *** work was able to serve as a new perspective for the design analysis and motion control of continuum robots.

关键词： continuum robots Variable curvature modeling Boundary conditions Nonlinear mechanics

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Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots for in-situ aero-engine maintenance

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Frontiers of Mechanical Engineering 2023年第3期18卷 99-121页

作者： Zheshuai YANG Laihao YANG Yu SUN Xuefeng CHEN School of Mechanical Engineering Xi'an Jiaotong UniversityXi'an 710049China

In-situ maintenance is of great significance for improving the efficiency and ensuring the safety of *** cable-driven continuum robot(CDCR)with twin-pivot compliant mechanisms,which is enabled with flexible deformation capability and confined space accessibility,has emerged as a novel tool that aims to promote the development of intelligence and efficiency for in-situ aero-engine *** high-fidelity model that describes the kinematic and morphology of CDCR lays the foundation for the accurate operation and control for in-situ ***,this model was not well addressed in previous *** this study,a general kinetostatic modeling and morphology characterization methodology that comprehensively contains the effects of cable-hole friction,gravity,and payloads is proposed for the CDCR with twin-pivot compliant ***,a novel cable-hole friction model with the variable friction coefficient and adaptive friction direction criterion is proposed through structure optimization and kinematic parameter ***,the cable-hole friction,all-component gravities,deflection-induced center-of-gravity shift of compliant joints,and payloads are all considered to deduce a comprehensive kinetostatic model enabled with the capacity of accurate morphology characterization for ***,a compact continuum robot system is integrated to experimentally validate the proposed kinetostatic model and the concept of in-situ aero-engine *** indicate that the proposed model precisely predicts the morphology of CDCR and outperforms conventional *** compact continuum robot system could be considered a novel solution to perform in-situ maintenance tasks of aero-engines in an invasive manner.

关键词： kinetostatic modeling morphology characterization variable friction continuum robots in-situ maintenance

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Motion Control and Optimal Design of a Biomimetic Manipulator Based on Snake Coiling and Stretching

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Journal of Bionic Engineering 2023年第4期20卷 1514-1531页

作者： Jiangjie Han Yongshang Wang Mengbo Qian Zhejiang A&F University LinanHangzhou311300China

The traditionally articulated manipulator had a single control method,and the limited motion trajectory space was unsuitable for working in an unstructured *** paper introduces a control method and optimization for a multijoint manipulator Inspired by snakes'curling and stretching ***,we analyze the manipulator’s connection mode and motion planning and propose a new motion *** addition,we calculated the relevant positions and angles and subdivided the motion of some joints based on the principle of the meta-heuristic ***,the manipulator in this mode has a larger workspace and more flexible motion *** experimental results are consistent with the theoretical analysis,which further proves the feasibility and scalability of the scheme.

关键词： Bio-inspired robotic system Manipulator motion control continuum robots Flexible robots Snake-like

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Bio-inspired design of alternate rigid-flexible segments to improve the stiffness of a continuum manipulator

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Science China(Technological Sciences) 2020年第8期63卷 1549-1559页

作者： LIU Hong WANG HaiRong FAN ShaoWei YANG DaPeng State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Intrinsic flexible structures enable a continuum manipulator to exhibit attractive dexterity and intrinsic compliance over traditional hyper-redundant ***,its insufficient stiffness makes the performance of continuum manipulators unsatisfactory and thus limits the applications in many fields.A significant challenge is how to make a trade-off among dexterity,compliance and *** an evolutionary perspective,this paper compares several biological structures that enable the continuum manipulator function,and intends to reveal the mechanism on how the biological structures can improve the *** notochord and the vertebral column with acoelous centra are abstracted and physically implemented.A fundamental roddriven continuum manipulator is also introduced as a *** stiffness models of these three continuum manipulators are proposed,and comparative experiments are conducted to verify their stiffness *** results demonstrate that the rigid-flexible segmental structure can improve the stiffness properties of a continuum manipulator.

关键词： continuum robots biologically inspired robot flexible arm stiffness kinematics

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