Stack Configuration Optimization for Rolling-contact Continuum Robot Based on Kinematics Analysis
The rolling-contact continuum robot has good compliance and dexterity,and it can better perform maintenance and detection tasks in unstructured narrow environments.However,due to the different stacking configurations of rolling-contact units,the overall bending angle and the end attitude angle may be inconsistent during the motion of the robot,thus affecting the accessibility.In order to solve this problem,the rolling-contact joint unit is designed to construct three kinds of continuum robots with different stacking configurations,and their kinematic models are established by coordinate transformation method,respectively.Based on the mathematical model of the end bending angle and attitude angle,the deviation curve of the bending angle and attitude angle are compared while the end operating space are analyzed.On this basis,experiments are carried out to verify the movement of three rolling-stacked continuum robots in curved pipelines,and the results prove that the symmetrically stacked robot has a complete view and the best accessibility for narrow curved paths.This research provides technical support for the precise control of continuum robots in unstructured complex environments such as minimally invasive surgery and space exploration.
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