Advertisement

Shape Modeling of Continuous-Curvature Continuum Robots

  • Shaoping BaiEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)

Abstract

An essential problem in developing concentric-tube continuum robots is to determine the shape of the robot, which is dependent on robot structure and external load. A comprehensive model that takes into considerations of influencing factors is hence required. In this work, the shape modeling of a type of concentric-tube continuum robot built with a collection of super-elastic NiTiNol tubes is studied. The model, developed on the basis of differential geometry and curved beam theory, is able to determine both the bending deflection and torsional deformation for a continuum robot of continuous curvature. Simulation results for calculating the shape of a continuum robot built with NiTiNol tubes are included.

Keywords

Flexible manipulators Continuous-curvature continuum robots Shape modeling NiTiNol tubes 

References

  1. 1.
    Blessing, M., Walker, I.D.: Novel continuum robots with variable-length sections. In: Proceedings of the 3rd IFAC Symposium on Mechatronic Systems, Sydney, Australia (2004)Google Scholar
  2. 2.
    Mazzolai, B., Margheri, L., Cianchetti, M., Dario, P., Laschi, C.: Soft-robotic arm inspired by the octopus: II. from artificial requirements to innovative technological solutions. Bioinspiration & Biomimetics 7(2), 025005 (2012)CrossRefGoogle Scholar
  3. 3.
    Li, C.: Design of Continuous Backbone, Cable-driven Robots. Clemson University, Clemson (2000)Google Scholar
  4. 4.
    Dupont, P.E., Lock, J., Butler, E.: Torsional kinematic model for concentric tube robots. In: Proceedings of the 2009 IEEE International Conference on Robotics and Automation, pp. 2964–2971. (2009)Google Scholar
  5. 5.
    Webster III, R.J., Jones, B.A.: Design and kinematic modeling of constant curvature continuum robots: a review. Int. J. Robot. Res. 29(13), 1661–1683 (2010)CrossRefGoogle Scholar
  6. 6.
    Jones, B.A., Gray, R.L., Turlapati, K.: Three dimensional statics for continuum robotics. In: Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2659–2664. (2009)Google Scholar
  7. 7.
    Camarillo, D.B., Milne, C.F., Carlson, C.R., Zinn, M.R., Salisbury, J.K.: Mechanics modeling of tendon-driven continuum manipulators. IEEE Trans. Robot. 24(6), 1262–1273 (2008)CrossRefGoogle Scholar
  8. 8.
    Lang, H., Linn, J., Arnold, M.: Multibody dynamics simulation of geometrically exact Cosserat rods. Multibody Dyn. 25, 285–312 (2011)CrossRefzbMATHMathSciNetGoogle Scholar
  9. 9.
    Dupont, P.E., Lock, J., Itkowitz, B., Butler, E.: Design and control of concentric-tube robots. IEEE Trans. Robot. 26(2), 209–225 (2010)CrossRefGoogle Scholar
  10. 10.
    Do Carmo, M.P.: Differential geometry of curves and surfaces. Prentice-Hall Inc., Englewood Cliffs (1976)Google Scholar
  11. 11.
    Bai, S., Chuhao Xing, C.: Shape modeling of a concentric-tube continuum robot. In: Proceedings of the 2012 IEEE Inter Conference on Robotics and Biomimetics (ROBIO 2012), pp. 116–121. Guangzhou, China, 11–14 Dec 2012Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.Department of Mechanical and Manufacturing Engineering and Centre for Robotics ResearchAalborg UniversityAalborgDenmark

Personalised recommendations