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Dynamics of Tendon Actuated Continuum Robots by Cosserat Rod Theory

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ROMANSY 23 - Robot Design, Dynamics and Control (ROMANSY 2020)

Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 601))

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Abstract

Continuum robots bio-inspired from elephant trunk or snake are widely researched due to its curvilinear path following capabilities in restricted environment. Tendon actuation is one of the direct approaches to bend such continuous structures with high force generation ability. This paper focuses on developing kinematic and dynamic model for tendon actuated robot based on cosserat rod theory with piecewise constant curvature method. Representing rotational configuration of such robots using quaternions instead of traditional Euler angles eliminates singularity in modeling and ensures unique positioning of end effector even for large relative rotations. The actuation model developed incorporates general loading on element with piecewise constant curvature and is applicable for robots with any number of discs, tendons and configuration of tendons. This model accurately predicts bending, torsion, shear and extension of robot which is validated with standard benchmark problems of two, three dimensional co-rotational as well as curved beams subjected to nonlinear external load.

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Author information

Authors and Affiliations

  1. Indian Institute of Technology Bombay, Powai, 400076, India

    Arati Ajay Bhattu & Salil Kulkarni

Authors
  1. Arati Ajay Bhattu
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  2. Salil Kulkarni
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Corresponding author

Correspondence to Arati Ajay Bhattu .

Editor information

Editors and Affiliations

  1. Tokyo University of Agriculture and Technology, Tokyo, Japan

    Gentiane Venture

  2. Karlstad University, Karlstad, Sweden

    Jorge Solis

  3. Tokyo Institute of Technology, Tokyo, Japan

    Yukio Takeda

  4. Hokkaido University, Sapporo, Japan

    Atsushi Konno

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Bhattu, A.A., Kulkarni, S. (2021). Dynamics of Tendon Actuated Continuum Robots by Cosserat Rod Theory. In: Venture, G., Solis, J., Takeda, Y., Konno, A. (eds) ROMANSY 23 - Robot Design, Dynamics and Control. ROMANSY 2020. CISM International Centre for Mechanical Sciences, vol 601. Springer, Cham. https://doi.org/10.1007/978-3-030-58380-4_50

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