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Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness
Yang CH(杨铖浩)1,4; Geng SN(耿仕能)1; Walker, Ian2; Branson, David T3; Liu JG(刘金国)4; Dai JS(戴建生)1,5; Kang RJ(康荣杰)1
Department空间自动化技术研究室
Source PublicationInternational Journal of Robotics Research
ISSN0278-3649
2020
Pages1-15
Indexed BySCI ; EI
EI Accession number20201708504746
WOS IDWOS:000527746500001
Contribution Rank1
Funding OrganizationNational Key R&D Program of China (Grant No. 2018YFB1304600, No. 2019YFB1309800) ; Natural Science Foundation of China (Grant No. 51875393, No. 51535008, and No. 51721003) ; International Collaboration Program (Grant No. B16034) ; State Key Laboratory of Robotics Foundation-China (Grant No. 2019-O04)
KeywordSoft continuum robot variable stiffness statics model geometric constraint
Abstract

Continuum robots exhibit promising adaptability and dexterity for soft manipulation due to their intrinsic compliance. However, this compliance may lead to challenges in modeling as well as positioning and loading. In this paper, a virtual work-based static model is established to describe the deformation and mechanics of continuum robots with a generic rod-driven structure, taking the geometric constraint of the drive rods into account. Following this, this paper presents a novel variable stiffness mechanism powered by a set of embedded Shape Memory Alloy (SMA) springs, which can make the drive rods become ‘locked’ on the body structure with different configurations. The resulting effects of variable stiffness are then presented in the static model by introducing tensions of the SMA and friction on the rods. Compared with conventional models, there is no need to predefine the actuation forces of the drive rods; instead, actuation displacements are used in this new mechanism system with stiffness being regulated. As a result, the phenomenon that the continuum robot can exhibit an S-shaped curve when subject to single-directional forces is observed and analyzed. Simulations and experiments demonstrated that the presented mechanism has stiffness variation of over 287% and further demonstrated that the mechanism and its model are achievable with good accuracy, such that the ratio of positioning error is less than 2.23% at the robot end-effector to the robot length.

Language英语
WOS SubjectRobotics
WOS KeywordMINIMALLY INVASIVE SURGERY ; DESIGN ; KINEMATICS ; MECHANICS ; DYNAMICS ; SYSTEM
WOS Research AreaRobotics
Funding ProjectNational Key R&D Program of China[2018YFB1304600] ; National Key R&D Program of China[2019YFB1309800] ; Natural Science Foundation of China[51875393] ; Natural Science Foundation of China[51535008] ; Natural Science Foundation of China[51721003] ; International Collaboration Program[B16034] ; State Key Laboratory of Robotics Foundation-China[2019-O04]
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26722
Collection空间自动化技术研究室
Corresponding AuthorKang RJ(康荣杰)
Affiliation1.Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Centre for Advanced Mechanisms and Robotics, Tianjin University, China
2.Department of Electrical and Computer Engineering, Clemson University, USA
3.Faculty of Engineering, University of Nottingham, UK
4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
5.Centre for Robotics Research, King's College London, United Kingdom
Recommended Citation
GB/T 7714
Yang CH,Geng SN,Walker, Ian,et al. Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness[J]. International Journal of Robotics Research,2020:1-15.
APA Yang CH.,Geng SN.,Walker, Ian.,Branson, David T.,Liu JG.,...&Kang RJ.(2020).Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness.International Journal of Robotics Research,1-15.
MLA Yang CH,et al."Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness".International Journal of Robotics Research (2020):1-15.
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