Titre :

Modeling and Analysis of Tendon-Driven Continuum Robots for Rod-Based Locking

Auteur(s) :

Rao, Priyanka [Auteur]
Pogue, Chloe [Auteur]
Peyron, Quentin [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Diller, Eric [Auteur]
Burgner-Kahrs, Jessica [Auteur]

Titre de la revue :

IEEE Robotics and Automation Letters

Pagination :

3126-3133

Éditeur :

IEEE

Date de publication :

2023-06

ISSN :

2377-3766

Mot(s)-clé(s) en anglais :

Modeling Control and Learning for Soft Robots Flexible Robotics Kinematics
Modeling
Control
and Learning for Soft Robots
Flexible Robotics
Kinematics

Discipline(s) HAL :

Sciences de l'ingénieur [physics]/Automatique / Robotique

Résumé en anglais : [en]

Various design modifications have been proposed for tendon-driven continuum robots to improve their stiffness and workspace. One of them is using locking mechanisms to constrain the lengths of rods or passive backbones ...
Lire la suite >Various design modifications have been proposed for tendon-driven continuum robots to improve their stiffness and workspace. One of them is using locking mechanisms to constrain the lengths of rods or passive backbones along the robot. However, physics-based models used to predict these robots' behaviour commonly assume that the curvature of the locked portion does not change during robot actuation or that the effects of friction and gravity are negligible. In addition, these models do not consider the variations in twist on force application. In this letter, we propose a 3D static model for tendon-driven continuum robots experiencing locking due to length constraints on rods along their backbone. The proposed model is evaluated on prototypes of length 240 mm, with up to three locking mechanisms and has an accuracy of 3.63% w.r.t. length. Using the proposed model, a compliance analysis is performed studying the evolution of the robot compliance with the position of the locking mechanisms. An actuation strategy is proposed that can allow the robot to achieve the same shape with different compliance.Lire moins >

Langue :

Anglais

Comité de lecture :

Oui

Audience :

Internationale

Vulgarisation :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL