Statics Analysis of Bioinspired Fishbone Continuum Robot Based on Cosserat Theory

被引：0
|
作者：
Zhou P. [1 ]
Yao J. [1 ,2 ]
Zhu K. [1 ]
Zhang X. [1 ]
机构：
[1] Parallel Robot Mechatronic System Laboratory, Hebei Province, Yanshan University, Qinhuangdao
[2] Key Laboratory of Advanced Forging and Stamping Technology and Science, Ministry of Education, Yanshan University, Qinhuangdao
来源：
Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery | 2023年 / 54卷 / 10期
关键词：
continuum robot; Cosserat theory; rigid-flexible-soft coupling structure; static analysis;
D O I：
10.6041/j.issn.1000-1298.2023.10.044
中图分类号：
学科分类号：
摘要：
Continuum robots have a broad application prospect in space operations, medical surgery, agricultural harvesting and other fields due to their advantages of good dexterity, flexibility, and human-machine safety. Inspired by biological fishbone structure, a bioinspired fishbone continuum robot was proposed, which had compact structure, light weight, and high flexibility. However, the cross-arranged rigid-flexible-soft coupling multi-section structure of the bioinspired fishbone continuum robot made its statics modeling more difficult. The statics analysis of the bioinspired fishbone continuum robot was carried out based on Cosserat theory considering the coupling of its driving cables and elastic backbone. A Cosserat - rod model for the bioinspired fishbone continuum backbone and a Cosserat - string model for its driving cable were established. Furthermore, the coupling model of the Cosserat - rod and Cosserat - string models was established, which can be used to successfully predict the deformation laws of one bioinspired fishbone unit and two cross-arranged fishbone units under different cable driving forces and different tip loads. Compared with the experimental results, it was proved that the errors of theoretical value were within 1.5 mm, which was 1.2% of its length. The research result can provide a configuration for rigid-flexible-soft continuum robots, as well as a theoretical reference for the statics modeling of cable-driven rigid-flexible-soft coupling continuum robots. © 2023 Chinese Society of Agricultural Machinery. All rights reserved.
引用
收藏
页码：432 / 440
页数：8
相关论文
共 63 条
  • [1] QI Fei, ZHANG Heng, PEI Haishan, Et al., Drive error compensation of continuum manipulator based on force transfer model [J], Transactions of the Chinese Society for Agricultural Machinery, 54, 1, pp. 402-411, (2023)
  • [2] QI Fei, SHE Shigang, GAO Shuyuan, Et al., Dynamic of cable-driven continuum robot with nonlinear friction model [J], Transactions of the Chinese Society for Agricultural Machinery, 52, 4, pp. 375-383, (2021)
  • [3] XU K, ZHAO J, FU M., Development of the SJTU unfoldable robotic system (SURS) for single port laparoscopy [J], IEEE/ ASME Transactions on Mechatronics, 20, 5, pp. 2133-2145, (2015)
  • [4] ZHU J, LYU L, XU Y, Et al., Intelligent soft surgical robots for next-generation minimally invasive surgery [J], Advanced Intelligent Systems, 3, 5, (2021)
  • [5] WANG L, SIMAAM N., Geometric calibration of continuum robots: joint space and equilibrium shape deviations [J], IEEE Trans. Robot, 35, 2, pp. 387-402, (2019)
  • [6] YUAN H, CHIU P W Y, LI Z., Shape-reconstruction-based force sensing method for continuum surgical robots with large deformation, IEEE Robot. Autom. Lett, 2, 4, pp. 1972-1979, (2017)
  • [7] DUPONT P E, LOCK J, ITKOWITZ B, Et al., Design and control of concentric-tube robots [J], IEEE Trans. Robot, 26, 2, pp. 209-225, (2010)
  • [8] KATO T, OKUMURA I, SONH S E, Et al., Tendon-driven continuum robot for endoscopic surgery: preclinical development and validation of a tension propagation model[J], IEEE/ASME Trans. Mechatron, 20, 5, pp. 2252-2263, (2015)
  • [9] BURGNER-KAHRS J, RUCKE D C, CHOSET H., Continuum robots for medical applications: a survey [J], IEEE Trans. Robot, 31, 6, pp. 1261-1280, (2015)
  • [10] JI Aihong, LIU Rongxing, CHEN Hui, Et al., Motion analysis and teleoperation technology of multi-joint continuous robot[J], China Mechanical Engineering, 32, 23, pp. 2883-2889, (2021)
1234567