A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots
Identifieur interne : 001F84 ( Pmc/Checkpoint ); précédent : 001F83; suivant : 001F85A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots
Auteurs : D. Caleb Rucker ; Bryan A. Jones ; Robert J. WebsterSource :
- IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society [ 1552-3098 ] ; 2010.
Abstract
Continuum robots, which are composed of multiple concentric, precurved elastic tubes, can provide dexterity at diameters equivalent to standard surgical needles. Recent mechanics-based models of these “active cannulas” are able to accurately describe the curve of the robot in free space, given the preformed tube curves and the linear and angular positions of the tube bases. However, in practical applications, where the active cannula must interact with its environment or apply controlled forces, a model that accounts for deformation under external loading is required. In this paper, we apply geometrically exact rod theory to produce a forward kinematic model that accurately describes large deflections due to a general collection of externally applied point and/or distributed wrench loads. This model accommodates arbitrarily many tubes, with each having a general preshaped curve. It also describes the independent torsional deformation of the individual tubes. Experimental results are provided for both point and distributed loads. Average tip error under load was 2.91 mm (1.5%–3% of total robot length), which is similar to the accuracy of existing free-space models.
Url:
DOI: 10.1109/TRO.2010.2062570
PubMed: 21566688
PubMed Central: 3091283
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<pmc-dir>properties manuscript</pmc-dir>
<front><journal-meta><journal-id journal-id-type="nlm-journal-id">101514509</journal-id><journal-id journal-id-type="pubmed-jr-id">36499</journal-id><journal-id journal-id-type="nlm-ta">IEEE Trans Robot</journal-id><journal-title-group><journal-title>IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society</journal-title></journal-title-group><issn pub-type="ppub">1552-3098</issn><issn pub-type="epub">1941-0468</issn></journal-meta><article-meta><article-id pub-id-type="pmid">21566688</article-id><article-id pub-id-type="pmc">3091283</article-id><article-id pub-id-type="doi">10.1109/TRO.2010.2062570</article-id><article-id pub-id-type="manuscript">NIHMS288134</article-id><article-categories><subj-group subj-group-type="heading"><subject>Article</subject></subj-group></article-categories><title-group><article-title>A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots</article-title></title-group><contrib-group><contrib contrib-type="author"><name><surname>Rucker</surname><given-names>D. Caleb</given-names></name><role>Student Member, IEEE</role><aff id="A1">Vanderbilt University, Nashville, TN 37235, USA</aff><email>daniel.c.rucker@vanderbilt.edu</email></contrib><contrib contrib-type="author"><name><surname>Jones</surname><given-names>Bryan A.</given-names></name><role>Member, IEEE</role><aff id="A2">Mississippi State University, Mississippi State, MS 39762, USA</aff><email>bjones@ece.msstate.edu</email></contrib><contrib contrib-type="author"><name><surname>Webster</surname><given-names>Robert J.</given-names><suffix>III</suffix></name><role>Member, IEEE</role><aff id="A3">Vanderbilt University, Nashville, TN 37235, USA</aff><email>robert.webster@vanderbilt.edu</email></contrib></contrib-group><pub-date pub-type="nihms-submitted"><day>12</day><month>4</month><year>2011</year></pub-date><pub-date pub-type="ppub"><year>2010</year></pub-date><pub-date pub-type="pmc-release"><day>10</day><month>5</month><year>2011</year></pub-date><volume>26</volume><issue>5</issue><fpage>769</fpage><lpage>780</lpage><permissions><copyright-statement>© 2010 IEEE</copyright-statement><copyright-year>2010</copyright-year></permissions><abstract><p id="P1">Continuum robots, which are composed of multiple concentric, precurved elastic tubes, can provide dexterity at diameters equivalent to standard surgical needles. Recent mechanics-based models of these “active cannulas” are able to accurately describe the curve of the robot in free space, given the preformed tube curves and the linear and angular positions of the tube bases. However, in practical applications, where the active cannula must interact with its environment or apply controlled forces, a model that accounts for deformation under external loading is required. In this paper, we apply geometrically exact rod theory to produce a forward kinematic model that accurately describes large deflections due to a general collection of externally applied point and/or distributed wrench loads. This model accommodates arbitrarily many tubes, with each having a general preshaped curve. It also describes the independent torsional deformation of the individual tubes. Experimental results are provided for both point and distributed loads. Average tip error under load was 2.91 mm (1.5%–3% of total robot length), which is similar to the accuracy of existing free-space models.</p></abstract><kwd-group><title>Index Terms</title><kwd>Active cannula</kwd><kwd>concentric-tube robot</kwd><kwd>continuum robot</kwd><kwd>Cosserat-rod theory</kwd></kwd-group><funding-group><award-group><funding-source country="United States">National Cancer Institute : NCI</funding-source><award-id>R44 CA134169-03 || CA</award-id></award-group><award-group><funding-source country="United States">National Institute of Biomedical Imaging and Bioengineering : NIBIB</funding-source><award-id>R21 EB011628-01 || EB</award-id></award-group></funding-group></article-meta></front></pmc><affiliations><list></list><tree><noCountry><name sortKey="Jones, Bryan A" sort="Jones, Bryan A" uniqKey="Jones B" first="Bryan A." last="Jones">Bryan A. Jones</name><name sortKey="Rucker, D Caleb" sort="Rucker, D Caleb" uniqKey="Rucker D" first="D. Caleb" last="Rucker">D. Caleb Rucker</name><name sortKey="Webster, Robert J" sort="Webster, Robert J" uniqKey="Webster R" first="Robert J." last="Webster">Robert J. Webster</name></noCountry></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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