Abstract
Continuum robots with high flexibility and compliance have the capability to operate in confined and cluttered envi-ronments.To enhance the load capacity while maintaining robot dexterity,we propose a novel non-constant subsegment stiffness structure for tendon-driven quasi continuum robots(TDQCRs)comprising rigid-flexible coupling subsegments.Aiming at real-time control applications,we present a novel static-to-kinematic modeling approach to gain a comprehen-sive understanding of the TDQCR model.The analytical subsegment-based kinematics for the multisection manipulator is derived based on screw theory and product of exponentials formula,and the static model considering gravity loading,actuation loading,and robot constitutive laws is established.Additionally,the effect of tension attenuation caused by rout-ing channel friction is considered in the robot statics,resulting in improved model accuracy.The root-mean-square error between the outputs of the static model and the experimental system is less than 1.63％of the arm length(0.5 m).By em-ploying the proposed static model,a mapping of bending angles between the configuration space and the subsegment space is established.Furthermore,motion control experiments are conducted on our TDQCR system,and the results demonstrate the effectiveness of the static-to-kinematic model.
基金项目
National Natural Science Foundation of China(61973167)
Jiangsu Funding Program for Excellent Postdoctoral Talent()
维普
万方数据