scholarly journals Developing a Kinematically Similar Master Device for Extensible Continuum Robot Manipulators

2018 ◽  
Vol 10 (2) ◽  
Author(s):  
Chase G. Frazelle ◽  
Apoorva Kapadia ◽  
Ian Walker
Keyword(s):  
Physical System ◽  
Degrees Of Freedom ◽  
Robot Manipulators ◽  
Input Device ◽  
Continuum Robots ◽  
Continuum Robot ◽  
Master Device

We introduce a novel input device for the teleoperation of extensible continuum robots. As opposed to previous works limited by kinematically dissimilar master devices or restricted degrees-of-freedom (DoF), a kinematically similar input device capable of 9DoF is designed and used. The device is capable of achieving configurations identical to a three-section continuum robot and simplifies the teleoperation of such manipulators. In this paper, we outline the design of the input device and its construction. Implementation of the new master device and its effectiveness in regulating a physical system is also discussed.

Developing a Kinematically Similar Master Device for Extensible Continuum Robot Manipulators

2017 ◽  
Author(s):  
Chase G. Frazelle ◽  
Apoorva Kapadia ◽  
Ian Walker
Keyword(s):  
Physical System ◽  
Degrees Of Freedom ◽  
Robot Manipulators ◽  
Input Device ◽  
Continuum Robots ◽  
Continuum Robot ◽  
Master Device

We introduce a novel input device for the teleoperation of extensible continuum robots. As opposed to previous works limited by kinematically dissimilar master devices or restricted Degrees-of-Freedom (DoF), a kinematically similar input device capable of nine degrees-of-freedom is designed and used. The device is capable of achieving configurations identical to a three-section continuum robot and simplifies the control of such manipulators. In this paper, we outline the design of the input device and its construction. Implementation of the new master device and its effectiveness in regulating a physical system is also discussed.

Development of a Multi-Cable-Driven Continuum Robot Controlled by Parallel Platforms

2020 ◽  
pp. 1-11 ◽  
Author(s):  
Xinbo Chen ◽  
Jiantao Yao ◽  
Tong Li ◽  
Haili Li ◽  
Pan Zhou ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Load Capacity ◽  
Continuum Robots ◽  
Position Accuracy ◽  
Continuum Robot ◽  
In Series ◽  
Kinematic Models ◽  
Parallel Platform ◽  
Tube Structure ◽  
The Continuum

Abstract Cable-driven continuum robots exhibit excellent capabilities in the unstructured environment due to their inherent compliance and dexterity. To improve the reliability and load capacity of continuum robots, increasing the number of cables is often used in the control of continuum robots. However, the number of actuators will increase with the cables. To tackle this challenge, this work proposes a method for increasing the number of cables without increasing actuators in a continuum robot through parallel platforms. The parallel platforms are used to control all the cables in the continuum robot, and can be separated from the continuum robot to enable the remote drive of a manipulation arm by using the cable-tube structure. The manipulation arm is composed of several independent bending modules in series, which can be configured freely according to the demand of degrees of freedom. Further, each bending module is controlled independently by a parallel platform, which can avoid the mutual interference between the cables of one bending module and another one, improve the position accuracy and simplify the control difficulty of the manipulation arm. To evaluate the proposed method, this work develops a prototype of six-cable-driven continuum robot controlled by 3RPS parallel platforms, and presents some basic kinematic models to describe its function, and then an experimental work characterizing its performance. Experimental results illustrated the importance of increasing the number of cables, the rationality of kinematic models of the continuum robot, and the feasibility of controlling multiple cables by a parallel platform.

Design of a master device for controlling multi-moduled continuum robots

2015 ◽  
Vol 231 (10) ◽  
pp. 1921-1931 ◽  
Author(s):  
Hyun-Soo Yoon ◽  
Byung-Ju Yi
Keyword(s):  
Degrees Of Freedom ◽  
Control Experiment ◽  
Light Weight ◽  
Kinematic Structure ◽  
Continuum Robots ◽  
Two Degrees Of Freedom ◽  
Forward Kinematic ◽  
Master Device ◽  
Kinematic Solution

Few interface systems designed to control continuum robots have been developed. This work presents a master device for multi-unit continuum robots. The master mechanism has the same kinematic structure as the slave device. The kinematic structure, which uses a spring as a backbone, allows for a unique forward kinematic solution. This design is slim-sized, light-weight, and easy to implement. As an example mechanism, a continuum unit with two degrees of freedom was developed. Two-unit modules were assembled to generate four degrees of freedom. The performance of the master device is verified through a master-slave control experiment.

scholarly journals Continuous Backbone “Continuum” Robot Manipulators

ISRN Robotics ◽  
2013 ◽  
Vol 2013 ◽  
pp. 1-19 ◽  
Author(s):  
Ian D. Walker
Keyword(s):  
Dynamic Models ◽  
State Of The Art ◽  
Robot Manipulators ◽  
Complex Environments ◽  
Continuum Robots ◽  
Ongoing Research ◽  
Rigid Link ◽  
Future Developments ◽  
Current State ◽  
Continuum Robot

This paper describes and discusses the history and state of the art of continuous backbone robot manipulators. Also known as continuum manipulators, these robots, which resemble biological trunks and tentacles, offer capabilities beyond the scope of traditional rigid-link manipulators. They are able to adapt their shape to navigate through complex environments and grasp a wide variety of payloads using their compliant backbones. In this paper, we review the current state of knowledge in the field, focusing particularly on kinematic and dynamic models for continuum robots. We discuss the relationships of these robots and their models to their counterparts in conventional rigid-link robots. Ongoing research and future developments in the field are discussed.

Design Considerations for Continuum Robot Actuation Units Enabling Dexterous Transurethral Bladder Cancer Resection

2016 ◽  
Author(s):  
Giuseppe Del Giudice ◽  
Nima Sarli ◽  
Stanley D. Herrell ◽  
Nabil Simaan
Keyword(s):  
Design Process ◽  
Degrees Of Freedom ◽  
Modular Architecture ◽  
Continuum Robots ◽  
Position Sensing ◽  
Actuation Force ◽  
Design Considerations ◽  
Continuum Robot ◽  
Modular Format

The last decade has seen rapid growth in exploring the potential of continuum robots for a variety of surgical applications. The design of these robots requires unique electro-mechanical architectures of actuation units that satisfy operational requirements of precision, workspace, and payload capabilities. This paper presents the task-based design process of a compact nine degrees of freedom actuation unit for transurethral resection of bladder tumor (TURBT). This actuation unit has a unique modular architecture allowing partial decoupling of actuation, force and position sensing in a compact modular format. The derivation of task specifications based on kinematic simulations takes into account workspace, accuracy and force application capabilities for TURBT. Design considerations for supporting modularity, serviceability, sterilization, and compactness are presented. The detailed exposition of the design process serves as a case study that will be helpful for other groups interested in the development and integration of surgical continuum robots.

scholarly journals Recent Advances in Design and Actuation of Continuum Robots for Medical Applications

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 142
Author(s):  
Yong Zhong ◽  
Luohua Hu ◽  
Yinsheng Xu
Keyword(s):  
Degrees Of Freedom ◽  
Engineering Ethics ◽  
The Body ◽  
Confined Space ◽  
Medical Field ◽  
Continuum Robots ◽  
Surgical Interventions ◽  
New Methods ◽  
Continuum Robot ◽  
The Continuum

Traditional rigid robot application in the medical field is limited due to the limited degrees of freedom caused by their material and structure. Inspired by trunk, tentacles, and snakes, continuum robot (CR) could traverse confined space, manipulate objects in complex environment, and conform to curvilinear paths in space. The continuum robot has broad prospect in surgery due to its high dexterity, which can reach circuitous areas of the body and perform precision surgery. Recently, many efforts have been done by researchers to improve the design and actuation methods of continuum robots. Several continuum robots have been applied in clinic surgical interventions and demonstrated superiorities to conventional rigid-link robots. In this paper, we provide an overview of the current development of continuum robots, including the design principles, actuation methods, application prospect, limitations, and challenge. And we also provide perspective for the future development. We hope that with the development of material science, Engineering ethics, and manufacture technology, new methods can be applied to manufacture continuum robots for specific surgical procedures.

On the Inherent Characteristics of the Dynamics of Robot Manipulators

1991 ◽  
Author(s):  
Q. Tu ◽  
J. Rastegar
Keyword(s):  
Path Length ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Robot Manipulators ◽  
Control Point ◽  
Coordinate Space ◽  
Relative Significance ◽  
Harmonic Content ◽  
Trajectory Pattern ◽  
Dynamics Models

Abstract The inherent characteristics of the (nonlinear) dynamics of robot manipulators are studied. The study is based on a new method, referred to as the trajectory pattern method. The inverse dynamics models of the manipulator are divided into classes of inverse dynamics models, each corresponding to a different trajectory pattern. For each trajectory pattern, the structure of the resulting inverse dynamics model is fixed and is used to study the characteristics of the dynamics of the manipulator by examining the harmonic content of the required actuation torques (forces) and the relative significance of each harmonic. The harmonic content of the actuating torques is shown to be a function of the path length in the joint coordinate space and the harmonic content of the selected trajectory pattern, but is independent of the number of degrees-of-freedom of the manipulator. The relative contribution of each harmonic is a function of the path length, direction of motion, the position of the path of motion within the workspace of the manipulator, and the magnitude of the fundamental frequency. The study provides a systematic approach to path and trajectory planning from the vibration control point of view. As an example, the characteristics of the dynamics of a spatial 3R manipulator is studied for motions with two different path lengths, starting from a specified point and extending in different directions.

scholarly journals A Flexible Transoral Robot Towards COVID-19 Swab Sampling

2021 ◽  
Vol 8 ◽  
Author(s):  
Changsheng Li ◽  
Xiaoyi Gu ◽  
Xiao Xiao ◽  
Chwee Ming Lim ◽  
Xingguang Duan ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Flexible Manipulator ◽  
The Novel ◽  
Visual Guidance ◽  
Face To Face ◽  
Tongue Depressor ◽  
Operation Procedure ◽  
The Face ◽  
Master Device

There are high risks of infection for surgeons during the face-to-face COVID-19 swab sampling due to the novel coronavirus’s infectivity. To address this issue, we propose a flexible transoral robot with a teleoperated configuration for swab sampling. The robot comprises a flexible manipulator, an endoscope with a monitor, and a master device. A 3-prismatic-universal (3-PU) flexible parallel mechanism with 3 degrees of freedom (DOF) is used to realize the manipulator’s movements. The flexibility of the manipulator improves the safety of testees. Besides, the master device is similar to the manipulator in structure. It is easy to use for operators. Under the guidance of the vision from the endoscope, the surgeon can operate the master device to control the swab’s motion attached to the manipulator for sampling. In this paper, the robotic system, the workspace, and the operation procedure are described in detail. The tongue depressor, which is used to prevent the tongue’s interference during the sampling, is also tested. The accuracy of the manipulator under visual guidance is validated intuitively. Finally, the experiment on a human phantom is conducted to demonstrate the feasibility of the robot preliminarily.

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