Abstract
Continuum robot, unlike conventional rigid-link robots, has numerous numbers of degrees of freedom, enabling it to be applied for confined space works, such as minimally invasive surgery, safe robot/objective interactions, and in-situ aero-engine detection. This study presented a cable-driven continuum robot with twin-pivot structure, which poses smaller diameter-length-ratio and torsion resistance ability compared with conventional single-pivot structure, as well as the kinematics and shape estimation. The kinematics model of the twin-pivot continuum robot is established based on the assumption of piecewise constant curvature, with which the mapping between driving space and operation space are presented. Finally, a prototype of continuum robot system with single section is constructed to verify the validation of the kinematics model and study the shape estimation. Based on the constructed prototype, the shape estimation of the continuum robot with different payloads is performed. The comparative results suggest that relative error is less than 5% for total length of the single section without payload, verifying the validity of the kinematics model. The comparison between the results with different payloads indicate that the increasing payload will increase the relative error.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Webster, R.J., Jones, B.A.: Design and kinematic modeling of constant curvature continuum robots: a review. Int. J. Robot. Res. 29(13), 1661–1683 (2010)
Hannan, M.W., Walker, I.D.: Kinematics and the implementation of an elephant’s trunk manipulator and other continuum style robot . Robot Syst. 20(2), 45–63 (2003)
Ji, D., Kang, T.H., Shim, S., et al.: Analysis of twist deformation in wire-driven continuum surgical robot. Int. J. Control Autom. Syst. 18(1), 10–20 (2019)
Shin, W.H., Kwon, D.S.: Surgical robot system for single-port surgery with novel joint mechanism. IEEE Trans. Biomed. Eng. 60(4), 937–944 (2013)
Camarillo, D.B., Carlson, C.R., Salisbury, J.K.: Configuration tracking for continuum manipulators with coupled tendon drive. IEEE Trans. Rob. 25(4), 798–808 (2009)
Buckingham, R., Graham, A.: Nuclear snake-arm robots. Ind. Robot Int. J. 39(1), 6–11 (2012)
Kamegawa, T., Yamasaki, T., Igarashi, H., et al.: Development of the snake-like rescue robot “KOHGA. In: 2004 IEEE International Conference on Robotics and Automaton on Proceedings, pp. 5081–5086. IEEE, New York (2004)
Dong, X., Palmer, D., Axinte, D., et al.: In-situ repair/maintenance with a continuum robotic machine tool in confined space. J. Manuf. Process. 38, 313–318 (2019)
Dong, X., Axinte, D., Palmer, D., et al.: Development of a slender continuum robotic system for on-wing inspection/repair of gas turbine engines. Robot. Comput. Integr. Manuf. 44, 218–229 (2017)
Wang, M., Dong, X., Ba, W., et al.: Design, modelling and validation of a novel extra slender continuum robot for in-situ inspection and repair in aeroengine. Robot. Comput.-Integr. Manuf. 67, 102054 (2021)
Tang, L., Wang, J., Zheng, Y., et al.: Design of a cable-driven hyper-redundant robot with experimental validation. Int. J. Adv. Robot. Syst. 14(5), 1–12 (2017)
Dong, X., Raffles, M., Cobos-Guzman, S., et al.: A novel continuum robot using twin-pivot compliant joints: design, modeling, and validation. J. Mech. Robot.-Trans. ASME 8(2), 021010 (2016)
Xu, W., Liu, T., Li, Y.: Kinematics, dynamics, and control of a cable-driven hyper-redundant manipulator. IEEE/ASME Trans. Mechatron. 23(4), 1693–1704 (2018)
Tang, L., Huang, J., Zhu, L., et al.: Path tracking of a cable-driven snake robot with a two-level motion planning method. IEEE/ASME Trans. Mechatron. 24(3), 935–946 (2019)
Bogue, R.: Snake robots a review of research, products and applications. Ind. Robot-Int. J. 41(3), 253–258 (2014)
SIASUN. http://www.siasun.hk/. Accessed 16 Apr 2021
Dong, X., Raffles, M., Guzman, S.C., et al.: Design and analysis of a family of snake arm robots connected by compliant joints. Mech. Mach. Theory 77, 73–91 (2014)
Renda, F., Giorelli, M., Calisti, M., et al.: Dynamic model of a multibending soft robot arm driven by cables. IEEE Trans. Robot. 30(5), 1109–1122 (2014)
Garriga-Casanovas, A., Rodriguez, Y., Baena, F.: Kinematics of continuum robots with constant curvature bending and extension capabilities. J. Mech. Robot. 11(1), 011010 (2019)
Yuan, H., Zhou, L., Xu, W.: A comprehensive static model of cable-driven multi-section continuum robots considering friction effect. Mech. Mach. Theory 135, 130–149 (2019)
Xu, K., Simaan, N.: Analytic formulation for kinematics, statics, and shape restoration of multibackbone continuum robots via elliptic integrals. J. Mech. Robot.-Trans. ASME 2(1), 13 (2010)
Barrientos-Diez, J., Dong, X., Axinte, D., et al.: Real-time kinematics of continuum robots: modelling and validation. Robot. Comput.-Integr. Manuf. 67, 12 (2021)
Bieze, T.M., Kruszewski, A., Carrez, B., et al.: Design, implementation, and control of a deformable manipulator robot based on a compliant spine. Int. J. Robot. Res. 39(14), 1604–1619 (2020)
Shi, C., Luo, X., Qi, P., et al.: Shape sensing techniques for continuum robots in minimally invasive surgery: s survey. IEEE Trans. Biomed. Eng. 64(8), 1665–1678 (2017)
Acknowledgements
This work is sponsored by the National Natural Science Foundation of China (Nos. 52105117, 91860127).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 Springer Nature Switzerland AG
About this paper
Cite this paper
Yang, Z. et al. (2021). A Continuum Robot with Twin-Pivot Structure: The Kinematics and Shape Estimation. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13013. Springer, Cham. https://doi.org/10.1007/978-3-030-89095-7_45
Download citation
DOI: https://doi.org/10.1007/978-3-030-89095-7_45
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-89094-0
Online ISBN: 978-3-030-89095-7
eBook Packages: Computer ScienceComputer Science (R0)