Recently, a new concept for continuum robots capable of producing macro-scale and micro-scale motion has been presented. These robots achieve their multi-scale motion capabilities by coupling direct actuation of push-pull backbones for macro-motion with indirect actuation whereby the equilibrium pose is altered to achieve micro-scale motion. This paper presents a first attempt at explaining the micro-motion capabilities of these robots from a modeling perspective. This paper presents the macro- and micro-motion kinematics of a single-segment continuum robot by using statics coupling effects among its subsegments. Experimental observations of the micro-scale motion demonstrate a turning point behavior which could not be explained well using the current modeling methods. We present a simplistic modeling approach that introduces two calibration parameters to calibrate the moment coupling effects among the subsegments of the robot. It is shown that these two parameters can reproduce the turning point behavior at the micro-scale. The instantaneous macro- and micro-scale kinematics Jacobians and the calibration parameters identification Jacobian are derived. The modeling approach is verified against experimental data showing that our simplistic modeling approach can capture the experimental motion data with the RMS position error of 5.82 μm if one wishes to fit the entire motion profile with the turning point. If one chooses to exclude motions past the turning point, our model can fit the experimental data with an accuracy of 4.76 μm.
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October 2019
Research-Article
Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration
Long Wang,
Long Wang
Department of Mechanical Engineering,
Nashville, TN 37235
e-mail: long.wang@Vanderbilt.edu
Vanderbilt University
,Nashville, TN 37235
e-mail: long.wang@Vanderbilt.edu
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Giuseppe Del Giudice,
Giuseppe Del Giudice
Department of Mechanical Engineering,
Nashville, TN 37235
e-mail: giuseppe.del.giudice@Vanderbilt.edu
Vanderbilt University
,Nashville, TN 37235
e-mail: giuseppe.del.giudice@Vanderbilt.edu
Search for other works by this author on:
Nabil Simaan
Nabil Simaan
Department of Mechanical Engineering,
Nashville, TN 37235
e-mail: nabil.simaan@Vanderbilt.edu
Vanderbilt University
,Nashville, TN 37235
e-mail: nabil.simaan@Vanderbilt.edu
Search for other works by this author on:
Long Wang
Department of Mechanical Engineering,
Nashville, TN 37235
e-mail: long.wang@Vanderbilt.edu
Vanderbilt University
,Nashville, TN 37235
e-mail: long.wang@Vanderbilt.edu
Giuseppe Del Giudice
Department of Mechanical Engineering,
Nashville, TN 37235
e-mail: giuseppe.del.giudice@Vanderbilt.edu
Vanderbilt University
,Nashville, TN 37235
e-mail: giuseppe.del.giudice@Vanderbilt.edu
Nabil Simaan
Department of Mechanical Engineering,
Nashville, TN 37235
e-mail: nabil.simaan@Vanderbilt.edu
Vanderbilt University
,Nashville, TN 37235
e-mail: nabil.simaan@Vanderbilt.edu
Manuscript received August 6, 2018; final manuscript received June 20, 2019; published online July 18, 2019. Assoc. Editor: Shaoping Bai.
J. Mechanisms Robotics. Oct 2019, 11(5): 051013 (12 pages)
Published Online: July 18, 2019
Article history
Received:
August 6, 2018
Revision Received:
June 20, 2019
Accepted:
June 25, 2019
Citation
Wang, L., Del Giudice, G., and Simaan, N. (July 18, 2019). "Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration." ASME. J. Mechanisms Robotics. October 2019; 11(5): 051013. https://doi.org/10.1115/1.4044162
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