摘要
The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot interaction.This compliance reduces the risk of damage to the manipulated object and its surroundings.However,continuum robots possess theoretically infinite degrees of freedom,and this high flexibility usually leads to complex deformations when subjected to external forces and positional constraints.Describing these complex deformations is the main challenge in modeling continuum robots.In this study,we investigated a novel variable curvature modeling method for continuum robots,considering external forces and positional constraints.The robot configuration curve is described using the developed mechanical model,and then the robot is fitted to the curve.A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the model.The feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a load.This work was able to serve as a new perspective for the design analysis and motion control of continuum robots.
基金
Supported by National Natural Science Foundation of China(Grant Nos.51975566,61821005,U1908214)
Key Research Program of Frontier Sciences,CAS,China(Grant No.ZDBS-LY-JSC011).
作者简介
Correspondence:Yuwang Liu,born in 1982,is currently a researcher and a PhD candidate supervisor at Shenyang Institute of Automation,Chinese Academy of Sciences,China.His main research interests include soft robot and space robot.,liuyuwang@sia.cn;Wenping Shi,born in 1995,is currently a master candidate at Northeastern University and received joint training at Shenyang Institute of Automation,Chinese Academy of Sciences,China.His research interests include structure design and control of soft robot;Peng Chen,born in 1996,is currently a PhD candidate at Shenyang Institute of Automation,Chinese Academy of Sciences,China.His research interests include modeling and control of continuum robots;Liang Cheng,born in 1999,is currently a master candidate at Shenyang Insti-tute of Automation,Chinese Academy of Sciences,China.His research interests include reconfigurable robot;Qing Ding,born in 1998,is currently a doctor candidate at Shenyang Institute of Automation,Chinese Academy of Sciences,China.His research interests include biped robot;Zhaoyan Deng,born in 1999,is currently a master candidate at Shenyang Ligong University,China,and received joint training at Shenyang Institute of Automation,Chinese Academy of Sciences,China.Her research interests include control of soft robot.
