Abstract
The intrinsic compliance and flexibility make continuum robots more competent to work in unstructured environments as compared to conventional rigid robots, but at the expense of stiffness and positional precision. To handle this problem, this paper builds a static finite element model of such hybrid continuum robot to describe the individual structure of pneumatic muscles and rods in one actuator and identify the performance of each actuation method. The model agreed with the experimental results with an error less than 10 mm (4.76% of its initial length). Moreover, the simulated and experimental results validated the different performances of two different actuation methods.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Li, M., Kang, R., Branson, D.T., Dai, J.S.: Model-free control for continuum robots based on an adaptive Kalman filter. IEEE/ASME Trans. Mechatron. 23(1), 286–297 (2018)
Burgner-Kahrs, J., Rucker, D.C., Choset, H.: Continuum robots for medical applications: asurvey. IEEE Trans. Robot. 31(6), 1261–1280 (2015)
Tsukagoshi, H., Kitagawa, A., Segawa, M.: Active hose: an artificial elephant’s nose with maneuverability for rescue operation. In: Proceedings of 2001 IEEE International Conference on Robotics and Automation, pp. 2454–2459. IEEE, Seoul (2001)
Robinson, G., Davies, J.B.C.: Continuum robots - a state of the art. In: Proceedings of 1999 IEEE International Conference on Robotics and Automation, pp. 2849–2854. IEEE, Detroit (1999)
Yuk, H., Shin, J.H., Jo, S.: Design and control of thermal SMA based small crawling robot mimicking C. elegans. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 407–412. IEEE, Taipei (2010)
Jani, J.M., Leary, M., Subic, A., Gibson, M.A.: A review of shape memory alloy research, applications and opportunities. Mater. Des. (1980–2015) 56, 1078–1113 (2014)
Shintake, J., Rosset, S., Schubert, B., Floreano, D., Shea, H.: Versatile soft grippers with intrinsic electroadhesion based on multifunctional polymer actuators. Adv. Mater. 28(2), 231–238 (2015)
Walker, I.D., et al.: Continuum robot arms inspired by cephalopods. In: Unmanned Ground Vehicle Technology VII. SPIE (2005)
Yuk, H., Lin, S., Ma, C., Takaffoli, M., Fang, N.X., Zhao, X.: Hydraulic hydrogel actuators and robots optically and sonically camouflaged in water. Nat. Commun. 8, 14230 (2017)
Calisti, M., et al.: An octopus-bioinspired solution to movement and manipulation for soft robots. Bioinspiration Biomim. 6(3), 036002 (2011)
Xu, K., Simaan, N.: Actuation compensation for flexible surgical snake-like robots with redundant remote actuation. In: Proceedings 2006 IEEE International Conference on Robotics and Automation. IEEE (2006)
Brown, E., et al.: Universal robotic gripper based on the jamming of granular material. Proc. Natl. Acad. Sci. 107(44), 18809–18814 (2010)
Li, Y., Chen, Y., Yang, Y., Wei, Y.: Passive particle jamming and its stiffening of soft robotic grippers. IEEE Trans. Robot. 33(2), 446–455 (2017)
Shiva, A., et al.: Tendon-based stiffening for a pneumatically actuated soft manipulator. IEEE Robot. Autom. Lett. 1(2), 632–637 (2016)
Taniguchi, H., Miyake, M., Suzumori, K.: Development of new soft actuator using magnetic intelligent fluids for flexible walking robot. In: International Conference on Control Automation and Systems, pp. 1797–1801. IEEE, Gyeonggi-do (2010)
Kang, R., Guo, Y., Chen, L., Branson III, D.T., Dai, J.S.: Design of a pneumatic muscle based continuum robot with embedded tendons. IEEE/ASME Trans. Mechatron. 22(2), 751–761 (2017)
Jones, B.A., Walker, I.D.: Kinematics for multisection continuum robots. IEEE Trans. Robot. 22(1), 43–55 (2006)
Xu, K., Simaan, N.: Analytic formulation for kinematics, statics, and shape restoration of multibackbone continuum robots via elliptic integrals. J. Mech. Robot. 2(1), 011006 (2010)
Renda, F., Cacucciolo, V., Dias, J., Seneviratne, L.: Discrete Cosserat approach for soft robot dynamics: a new piece-wise constant strain model with torsion and shears. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5495–5502. IEEE, Daejeon (2016)
Kang, R., Branson, D.T., Zheng, T., Guglielmino, E., Caldwell, D.G.: Design, modeling and control of a pneumatically actuated manipulator inspired by biological continuum structures. Bioinspiration Biomim. 8(3), 036008 (2013)
Sun, C., Chen, L., Liu, J., Dai, J.S., Kang, R.: A hybrid continuum robot based on pneumatic muscles with embedded elastic rods. In: Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci. (2019). https://doi.org/10.1177/0954406218822013
Acknowledgment
This research was supported by National Key R&D Program of China (Grant No. 2018YFB1304600) and Natural Science Foundation of China (Grant 51875393 and 51721003). We thank Chenghao Yang and Yue Liu for helpful suggestions and device supports in building the finite element model.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Zhuang, D., Wang, X., Sun, C., Kang, R. (2019). A Finite Element Model and Performance Analysis of a Hybrid Continuum Robot. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11742. Springer, Cham. https://doi.org/10.1007/978-3-030-27535-8_16
Download citation
DOI: https://doi.org/10.1007/978-3-030-27535-8_16
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-27534-1
Online ISBN: 978-3-030-27535-8
eBook Packages: Computer ScienceComputer Science (R0)