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Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions
Gao AZ(高安柱); Ryan J. Murphy; Liu H(刘浩); Iulian I. Iordachita; Mehran Armand
Department机器人学研究室
Source PublicationIEEE Transactions on Mechatronics
ISSN1083-4435
2017
Volume22Issue:1Pages:465-475
Indexed BySCI ; EI
EI Accession number20170803380534
WOS IDWOS:000395750100047
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China under Grant 61473281 and in part by China Scholarship Council under Grant 201408210100.
KeywordDexterous Continuum Manipulators Compliant Joints Partition Approach Cosserat Rod Theory
Abstract

Dexterous continuum manipulators (DCMs) have been widely adopted for minimally- and less-invasive surgery. During the operation, these DCMs interact with surrounding anatomy actively or passively. The interaction force will inevitably affect the tip position and shape of DCMs, leading to potentially inaccurate control near critical anatomy. In this paper, we demonstrated a 2D mechanical model for a tendon actuated, notched DCM with compliant joints. The model predicted deformation of the DCM accurately in the presence of tendon force, friction force, and external force. A partition approach was proposed to describe the DCM as a series of interconnected rigid and flexible links. Beam mechanics, taking into consideration tendon interaction and external force on the tip and the body, was applied to obtain the deformation of each flexible link of the DCM. The model results were compared with experiments for free bending as well as bending in the presence of external forces acting at either the tip or body of the DCM. The overall mean error of tip position between model predictions and all of the experimental results was 0.62±0.41mm. The results suggest that the proposed model can effectively predict the shape of the DCM.

Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS KeywordOsteolysis ; Surgery ; Design ; Robots
WOS Research AreaAutomation & Control Systems ; Engineering
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/19722
Collection机器人学研究室
Corresponding AuthorGao AZ(高安柱)
Affiliation1.State key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.Johns Hopkins University Applied Physics Laboratory, Laurel, MD, 20723-6099, United States
4.Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, United States
Recommended Citation
GB/T 7714
Gao AZ,Ryan J. Murphy,Liu H,et al. Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions[J]. IEEE Transactions on Mechatronics,2017,22(1):465-475.
APA Gao AZ,Ryan J. Murphy,Liu H,Iulian I. Iordachita,&Mehran Armand.(2017).Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions.IEEE Transactions on Mechatronics,22(1),465-475.
MLA Gao AZ,et al."Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions".IEEE Transactions on Mechatronics 22.1(2017):465-475.
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