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Shape deformation analysis and dynamic modeling of a switchable rigid-continuum robot

Published online by Cambridge University Press:  07 November 2024

Yixiong Du Open the ORCID record for Yixiong Du [Opens in a new window] ,
Shuo Zhang ,
Zhongkai Zhang  and
Hao Wang Open the ORCID record for Hao Wang [Opens in a new window]
Yixiong Du
Affiliation:
Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, China Centre for Artificial Intelligence and Robotics (CAIR), Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences, Hong Kong SAR, China
Shuo Zhang
Affiliation:
Interdisciplinary Science Hub(ISH), Hypercycle Venture, Beijing, China
Zhongkai Zhang
Affiliation:
Centre for Artificial Intelligence and Robotics (CAIR), Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences, Hong Kong SAR, China
Hao Wang*
Affiliation:
Interdisciplinary Science Hub(ISH), Hypercycle Venture, Beijing, China
*
Corresponding author: Hao Wang; Email: [email protected]
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Abstract

Continuum robots offer unique advantages in performing tasks within extremely confined environments due to their exceptional dexterity and adaptability. However, their soft materials and elastic structures inherently introduce nonlinearity and shape instability, especially when the robot encounters external contact forces. To address these challenges, this paper presents a comprehensive model and experimental study to estimate the shape deformation of a switchable rigid-continuum robot (SRC-Bot). The kinematic analysis is first conducted to specify the degrees of freedom (DoF) and basic motions of SRC-Bot, including motion of bending, rotating, and elongating. This analysis assumes that the curvature varies along the central axis and maps the relationship between joint space and driven space. Subsequently, an equivalence concept is proposed to unify the stiffness addressing each DoF, which is then utilized in the establishment of the dynamic model. According to the mechanical structural design, the deformed posture of SRC-Bot is discretized into five segments, corresponding to the distribution of the guiders. The dynamics model is then derived using Newton’s second law and Euler’s method to simulate the deformation under gravity, friction, and external forces. Additionally, the stiffness in three directions is quantified through an identification process to complete the theoretical model. Furthermore, a series of experiments are conducted and compared with simulated results to validate the response and deformed behavior of SRC-Bot. The comparative results demonstrate that the proposed model-based simulation accurately captures the deformable characteristics of the robot, encompassing both static deformed postures and dynamic time-domain responses induced by external and actuation forces.

Keywords

rigid-continuum robotsvariable curvatureequivalent conceptdeformable behaviordynamics modeling
Type
Research Article
Information
Robotica , Volume 42 , Issue 11 , November 2024 , pp. 3934 - 3956
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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